A track plate mold cleaning robot

Abstract

The application relates to a track plate mold cleaning robot, and relates to the technical field of intelligent cleaning equipment. The cleaning unit comprises a base, a plurality of vibrating shovel modules and a control module. The vibrating shovel module comprises: a brake source; a shovel cutter; a variable stiffness transmission cavity arranged between the output end of the brake source and the shovel cutter, the cavity being filled with a shear thickening non-Newtonian fluid; a feedback sensor; and the control module is configured to: control the brake source to output vibration of a first frequency, and drive the shovel cutter to work in a first mode; judge the material of the contact surface according to the vibration frequency spectrum signal of the shovel cutter collected by the feedback sensor; if it is judged that the non-metallic residue is left, control the brake source to output vibration of a second frequency, and drive the shovel cutter to work in a second mode; and if it is judged that the hard metal mold or the residue has been removed, control the brake source to maintain or restore to vibration of the first frequency. The application can switch the shovel scanning detection mode and the hammer cleaning mode by switching the output frequency of the brake source, and the mold is not damaged.

Description

Technical Field

[0001] This application relates to the technical field of intelligent cleaning equipment, and in particular to a track slab mold cleaning robot. Background Technology

[0002] With the rapid advancement of high-speed railway construction in my country, CRTS III slab track, a track structure independently developed in my country with complete intellectual property rights, has been widely used in high-speed railway lines. The production of CRTS III track slabs employs a factory prefabrication process, with core steps including mold cleaning, release agent spraying, reinforcement and sleeve installation, tensioning, casting, curing, and demolding. Among these, the quality of mold cleaning directly determines the appearance quality (such as bubbles and chipped corners) and dimensional accuracy of the track slabs produced in the next cycle.

[0003] In the related technology, Chinese patent application with application number CN201810196967.X proposes a track slab mold cleaning robot, which includes a support frame and a frame slidably mounted on the support frame; roller brushes, side brushes, end brushes, groove brushes, ridge brushes and sleeve brushes are installed on the two sliding frames, as well as a dust suction device for adsorbing the dust swept up by each brush, so that each part of the mold can be cleaned separately.

[0004] However, for some cement crusts remaining on the track slab mold, the soft brush cannot effectively clean them; on the contrary, it will aggravate the wear of the brush bristles. Currently, the usual practice is to first inspect manually or visually. If there are residual cement crusts, a wire brush or rigid scraper is used in conjunction with a motor to scrape them off. Taking machine vision inspection as an example, although it can identify some obvious residual cement crusts, it generates a lot of dust during the scraping process, which affects the visual recognition effect. This makes it easy to over-scrape and damage the surface during the scraping process, affecting the quality of subsequent pouring. Summary of the Invention

[0005] In order to improve the problem that existing track slab mold cleaning equipment is prone to excessive scraping and damage to the surface of track slab molds when automatically removing residual cement crust, this application provides a track slab mold cleaning robot.

[0006] The track slab mold cleaning robot provided in this application adopts the following technical solution:

[0007] A track slab mold cleaning robot includes a mobile carrier, a robotic arm mounted on the mobile carrier, and a cleaning unit connected to the end of the robotic arm. The cleaning unit includes a base, a plurality of vibrating shovel modules arrayed on the base, and a control module. The vibrating shovel modules include:

[0008] The braking source is mounted on the base;

[0009] A spatula, used to contact the surface of the mold;

[0010] A variable stiffness transmission cavity is disposed between the output end of the braking source and the blade, and its cavity is filled with a shear-thickening non-Newtonian fluid; and

[0011] Feedback sensors are used to collect vibration spectrum signals generated by the impact between the blade and the contact surface;

[0012] The control module is configured as follows:

[0013] Control the braking source to output vibration at a first frequency, driving the blade to operate in a first mode; and

[0014] The material of the contact surface is determined based on the signal collected by the feedback sensor.

[0015] If it is determined to be a non-metallic residue, the braking source is controlled to output a second frequency of vibration, driving the shovel to work in a second mode, wherein the second frequency is higher than the first frequency, causing the shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity to exhibit hardening characteristics and transmit a stronger impact force.

[0016] If it is determined that the hard metal mold or residue has been removed, control the actuator to maintain or restore the vibration to the first frequency.

[0017] Furthermore, the output end of the braking source is connected to a cylinder, the variable stiffness transmission cavity is located inside the cylinder, a piston rod is slidably arranged in the cylinder, one end of the piston rod extends into the shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity, and the other end extends out of the cylinder and is connected to the shovel.

[0018] The cylinder block includes a rigid section and a flexible diaphragm segment near the braking source, with the piston rod sliding within the rigid section.

[0019] Furthermore, the control module's logic for determining the material of the contact surface is as follows:

[0020] When the actuation source outputs vibration at the first frequency, the high-frequency harmonic components of the feedback signal collected by the feedback sensor are monitored in real time.

[0021] If the feedback signal contains high-frequency harmonic components with an amplitude exceeding a preset threshold, it is determined that the device is in contact with a hard metal mold, and the actuator is controlled to maintain the first frequency.

[0022] If the feedback signal is mainly a low-frequency fundamental wave and the attenuation rate is higher than the preset value, it is determined that there is contact with non-metallic residue, and the actuator source is controlled to switch to the second frequency.

[0023] Furthermore, the control module is also configured to:

[0024] During the process of the braking source vibrating and breaking the residue at the second frequency, the actuator source is controlled to periodically switch the frequency back to the first frequency for a short time, and the feedback sensor detects whether the shovel is in contact with the hard metal mold.

[0025] If the control module determines that the contact surface of the shovel is a hard metal mold, it determines that the residue has been removed and controls the actuator to maintain the first frequency to continue moving; if it still determines that the contact surface is a non-metallic residue, it controls the actuator to switch back to the second frequency to continue crushing.

[0026] Furthermore, the multiple vibratory shovel modules on the base are arranged in an alternating array, and the cleaning paths of adjacent vibratory shovel modules have overlapping areas in the extension direction of the shovel blade head.

[0027] Furthermore, the control module is also configured to control the adjacent braking sources to output vibrations with a preset phase difference in order to counteract the resonant reaction force on the cleaning unit.

[0028] Furthermore, the vibratory shovel module also includes a reset elastic element, which is arranged in parallel outside or inside the variable stiffness transmission cavity to provide an elastic restoring force to reset the shovel blade during the return phase of the braking source.

[0029] Furthermore, a pressure sensor is provided at one end of the piston rod that extends into the variable stiffness transmission cavity, and the control module is further configured to:

[0030] When the braking source outputs vibration at the second frequency, if the pressure value detected by the pressure sensor is less than a set threshold for a continuous set time, it is determined that the variable stiffness transmission cavity or the braking source is disabled and an alarm signal is output.

[0031] Furthermore, the chamfer of the cutting edge of the shovel head is set to an obtuse angle of R0.5 to R2.0.

[0032] Furthermore, the critical shear frequency of the shear-thickened non-Newtonian fluid in the variable stiffness transmission cavity is between the first frequency and the second frequency;

[0033] The first frequency ranges from 10Hz to 100Hz, and the second frequency ranges from 1kHz to 20kHz.

[0034] In summary, the beneficial technical effects of this application are as follows:

[0035] 1. This application utilizes the buffering effect of a shear-thickening non-Newtonian fluid at a first frequency, allowing the scraper to perform floating detection on the residue on the track slab mold when it contacts the mold body; while when the scraper switches to a second frequency after contacting the residue, the shear-thickening non-Newtonian fluid instantly solidifies to achieve rigid transmission, enabling the scraper to perform high-frequency hammering cleaning of the residue; this achieves efficient cleaning of residual cement crust on the track slab mold without causing excessive damage to the track slab mold;

[0036] 2. Through direct contact between the scraper and the contact surface and real-time monitoring by the feedback sensor, the control module can accurately determine whether the scraper is contacting non-metallic residue or hard metal mold. This identification process does not require an external light source and is not affected by the deep cavity of the support platform. Compared with the existing vision guidance system, the identification accuracy of this application is not affected by changes in concrete color, surface humidity, or ambient light. Moreover, the identification and cleaning times coincide, eliminating the need for additional inspection stations and making the production line layout more compact.

[0037] 3. By periodically controlling the scraper in the second mode to retract to the first mode and performing scraper contact surface material detection and identification through the control module, it is possible to accurately determine whether the residual cement crust has been cleaned up, effectively avoiding mechanical damage to the track slab mold caused by excessive cleaning;

[0038] 4. By monitoring the pressure signal in the variable stiffness transmission cavity through a pressure sensor, real-time self-diagnosis of faults such as leakage of shear-thickening non-Newtonian fluid, brake source failure, and blade detachment is realized. The diagnostic mechanism is simple and reliable, and does not require a complex sensor array. Compared with the periodic maintenance or downtime after failure in the prior art, the predictive maintenance capability of this application significantly improves system availability and reduces unplanned downtime. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application;

[0040] Figure 2 This is a front view of the overall structure of an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of the cleaning unit according to an embodiment of this application;

[0042] Figure 4 It is along Figure 3 Schematic diagram of the cross-sectional structure along line AA;

[0043] Figure 5 yes Figure 4 A magnified view of part B in the middle section;

[0044] Figure 6 This is a flowchart of the control module.

[0045] Explanation of reference numerals in the attached figures:

[0046] 11. Mobile carrier; 12. Robotic arm; 13. Cleaning unit; 131. Base;

[0047] 21. Braking source; 22. Feedback sensor;

[0048] 3. Shovel blade; 31. Reset elastic element;

[0049] 4. Variable stiffness transmission chamber; 41. Cylinder block; 411. Hard section; 412. Flexible diaphragm segment; 42. Piston rod; 43. Pressure sensor;

[0050] 5. Guide cylinder. Detailed Implementation

[0051] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] This application discloses a track slab mold cleaning robot. (Refer to...) Figure 1 , Figure 2 and Figure 3 It includes a mobile carrier 11, a robotic arm 12 mounted on the mobile carrier 11, and a cleaning unit 13 connected to the end of the robotic arm 12. The cleaning unit 13 includes a base 131, a plurality of vibrating shovel modules arrayed on the base 131, and a control module. The specific structures and control processes of the mobile carrier 11 and the robotic arm 12 are existing technologies, which can be fully implemented by those skilled in the art and require no further explanation. Furthermore, in addition to the vibrating shovel modules, the cleaning unit 13 may also be equipped with a multi-brush cleaning module, a vacuuming device, etc., all of which are existing technologies and can be fully implemented by those skilled in the art and require no further explanation.

[0053] Main, reference Figure 3 , Figure 4 and Figure 5 The vibratory shovel module includes:

[0054] The braking source 21 is mounted on the base 131. Specifically, the actuation source is a stacked piezoelectric ceramic actuator or a magnetostrictive actuator, which can be controlled by a program to output vibrations of different frequencies.

[0055] The scraper 3 is used to contact the mold surface. The chamfer of the cutting edge of the scraper 3 is set to an obtuse angle of R0.5 to R2.0 to cooperate with the high-frequency vibration to produce a hammering and crushing effect rather than a cutting effect, so as to avoid the scraper 3 from damaging the surface of the track plate mold during long-term vibration scraping.

[0056] The variable stiffness transmission cavity 4 is located between the output end of the braking source 21 and the blade 3. The cavity is filled with a shear-thickening non-Newtonian fluid, specifically a polyethylene glycol suspension with dispersed nano-silica particles, which is existing technology and will not be elaborated further.

[0057] Feedback sensor 22 is used to collect the vibration spectrum signal generated by the impact between the blade 3 and the contact surface. Specifically, it is a broadband piezoelectric vibration sensor or a MEMS microphone, and is independently set on the blade arm of each blade 3 to independently collect the feedback signal of the corresponding blade 3.

[0058] Reference Figure 6 The control module is configured as follows:

[0059] The control braking source 21 outputs vibration at a first frequency, driving the scraper 3 to operate in a first mode. At this time, the shearing and thickening non-Newtonian fluid is in a liquid buffer mode, and the scraper 3 flexibly contacts the surface of the track plate mold; and

[0060] The material of the contact surface is determined based on the signal collected by the feedback sensor 22;

[0061] If the residue is determined to be non-metallic, the braking source 21 outputs vibration at a second frequency, driving the scraper 3 to operate in a second mode. In this mode, the shear-thickening non-Newtonian fluid undergoes a shear-thickening effect, transforming into a solid-state rigid mode, rigidly transmitting the vibrational energy of the actuator to the scraper 3 to pulverize the residue. The second frequency is higher than the first frequency, causing the shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity 4 to exhibit hardening characteristics, transmitting a stronger impact force. Furthermore, the critical shear frequency of the shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity 4 is between the first and second frequencies; the first frequency ranges from 10Hz to 100Hz, and the second frequency ranges from 1kHz to 20kHz.

[0062] If it is determined that the hard metal mold or residue has been removed, control the actuator to maintain or restore the vibration to the first frequency.

[0063] Specifically, the output end of the braking source 21 is connected to a cylinder 41, and the variable stiffness transmission cavity 4 is located inside the cylinder 41. A piston rod 42 is slidably arranged in the cylinder 41. One end of the piston rod 42 extends into the shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity 4, and the other end extends out of the cylinder 41 and is connected to the scraper 3. Preferably, the scraper 3 and the piston rod 42 are detachably connected, such as by bolting or snapping. Furthermore, the cylinder 41 includes a rigid section 411 and a flexible membrane segment 412 near the braking source 21. The piston rod 42 slides in the rigid section 411. The flexible membrane segment 412 can provide expansion space for the shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity 4 when the braking source 21 outputs a first frequency vibration, thereby realizing the floating detection effect of the scraper 3 in the first mode.

[0064] Furthermore, a guide cylinder 5 is provided through the base 131, and one end of the piston rod 42 extending out of the cylinder 41 is slidably disposed in the guide cylinder 5 to improve the stability of the blade 3 during vibratory scraping. If necessary, a guide frame (not shown in the figure) surrounding the cylinder 41 is also provided on the base 131 to ensure the axial vibration stability of the cylinder 41 under the drive of the brake source 21. The aforementioned feedback sensor 22 is installed on the periphery of the piston rod 42 near the end of the blade 3. In addition, the vibratory scraping module also includes a reset elastic element 31, which is arranged in parallel outside or inside the variable stiffness transmission cavity 4 to provide an elastic restoring force to reset the blade 3 during the return phase of the brake source 21. Specifically, the reset elastic element 31 can be a tension spring sleeved outside the guide cylinder 5, with one end of the reset elastic element 31 fixedly connected to the blade 3 and the other end fixedly connected to the guide cylinder 5 or the base 131.

[0065] Furthermore, the control module's logic for determining the material of the contact surface is as follows:

[0066] When the actuator outputs vibration at the first frequency, the high-frequency harmonic components of the feedback signal collected by the feedback sensor 22 are monitored in real time.

[0067] If the feedback signal contains high-frequency harmonic components with an amplitude exceeding a preset threshold, it is determined that the device is in contact with a hard metal mold, and the actuator is controlled to maintain the first frequency.

[0068] If the feedback signal is mainly a low-frequency fundamental wave and the attenuation rate is higher than the preset value, it is determined that there is contact with non-metallic residue, and the actuator source is controlled to switch to the second frequency.

[0069] In addition, to avoid over-cleaning the track slab mold when the scraper 3 is vibrating at high frequency to remove non-metallic residues.

[0070] In another feasible embodiment, further, refer to Figure 6 The control module is also configured as follows:

[0071] During the process of the brake source 21 vibrating and breaking the residue at the second frequency, the actuator source is controlled to periodically switch the frequency back to the first frequency for a short time, and the feedback sensor 22 detects whether the shovel 3 is in contact with the hard metal mold.

[0072] If the control module determines that the contact surface of the shovel 3 is a hard metal mold, it determines that the residue has been removed and controls the actuator to maintain the first frequency to continue moving; if it still determines that the contact surface is a non-metallic residue, it controls the actuator to switch back to the second frequency to continue crushing.

[0073] Therefore, when using the cleaning robot of this application to clean the track slab mold, the robotic arm 12 moves the cleaning unit 13 to contact the surface of the track slab mold to be cleaned. At this time, the control module controls the braking source 21 to output low-frequency vibration of the first frequency. The shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity 4 has a low shear rate and is in a liquid buffer mode. When the vibration energy output by the braking source 21 is transmitted to the variable stiffness transmission cavity 4, the flexible membrane segment 412 on the cylinder 41 deforms in a breathing manner with the pressure change. The piston rod 42 is mainly subjected to viscous damping force in the shear-thickening non-Newtonian fluid, so that the scraper 3 is in the first working state, and contacts the mold with elastic low impact force. It can perform floating scanning of the residual on the surface of the track slab mold to be cleaned as the cleaning unit 13 moves, and will not cause excessive damage to the track slab mold.

[0074] When the shovel 3 is working in the first mode, the feedback sensor 22 collects the feedback signal of the shovel 3 impacting the contact surface in real time. If the shovel 3 impacts a hard metal mold, due to the high elastic modulus of the metal, there will be obvious high-frequency harmonic components in the feedback signal, and the amplitude will exceed the preset threshold. If it impacts non-metallic residues, due to the brittleness and high damping of the residual cement shell, the impact sound is dull, and the feedback signal is mainly a low-frequency fundamental wave with extremely fast attenuation. Thus, the residues on the track slab mold can be accurately fed back and identified.

[0075] When the control module detects that the feedback signal exhibits the characteristic of "low-frequency fundamental wave with high attenuation", it determines that the scraper 3 has encountered non-metallic residue. The control module immediately switches the frequency of the braking source 21 to the second frequency. The shear rate generated by this frequency far exceeds the critical value of shear thickening non-Newtonian fluid, causing it to undergo shear thickening effect within microseconds, resulting in a sharp increase in viscosity or even solidification. The flexible membrane segment 412 cannot respond due to high-frequency inertia. At this time, the variable stiffness transmission cavity 4 instantly becomes a "rigid linkage", allowing the high-frequency, high-energy vibration of the actuation source to be transmitted to the scraper 3 with 100% lossless transmission. The scraper 3 performs high-frequency, high-acceleration "micro-explosion" hammering on the residue, utilizing the characteristic that cement crust is resistant to compression but not to tension, causing it to crack and peel off rapidly, thereby achieving the effect of efficiently cleaning the residual cement crust.

[0076] Furthermore, during the high-frequency crushing process, the control module does not control the scraper 3 to continuously "blindly" strike. Instead, it periodically (e.g., every 0.5 seconds) switches the output frequency of the braking source 21 back to the first frequency for 0.1 seconds of "flaw detection." If the feedback sensor 22 detects a high-frequency harmonic at this time, it indicates that the residual cement crust has fallen off, exposing the hard metal mold. The control module immediately controls the braking source 21 to maintain the current low-frequency state, and the scraper 3 stops high-frequency hammering. This effectively prevents the scraper 3 from continuing high-frequency hammering after removing the residue, thus preventing damage to the mold. Moreover, this detection and control process is entirely achieved through direct contact between the scraper 3 and the feedback sensor 22. Compared to the shortcomings of traditional visual recognition, which is greatly affected by dust interference, this method has high precision and small error, effectively ensuring the service life of the track slab mold after multiple cleanings.

[0077] In addition, to ensure the cleaning effect of the scraper 3 on non-metallic residues, and to facilitate the maintenance of the multiple vibratory scraper modules arranged in the array.

[0078] In other possible embodiments, further reference is made to... Figure 4 , Figure 5 and Figure 6 A pressure sensor 43 is installed at one end of the piston rod 42 that extends into the variable stiffness transmission cavity 4. The control module is also configured as follows:

[0079] When the braking source 21 outputs vibration at the second frequency, if the pressure value detected by the pressure sensor 43 is less than the set threshold for a continuous set time, it is determined that the variable stiffness transmission cavity 4 or the braking source 21 is disabled and an alarm signal is output.

[0080] Therefore, when the braking source 21 outputs vibration at the second frequency, if the pressure value detected by the pressure sensor 43 is less than the set threshold (e.g., 0.1 MPa) for a continuous set time (e.g., 5 seconds), it indicates that one of the following faults has occurred: ① leakage of shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity 4, resulting in the inability to establish stiffness; ② failure or malfunction of the braking source 21, with no vibration output or reduced output; ③ breakage or detachment of the blade 3, failing to contact the working surface. At this time, the control module determines that the variable stiffness transmission cavity 4 or the braking source 21 is inoperable, outputs an alarm signal and shuts down for protection, prompting maintenance personnel to replace or repair the vibratory shovel module.

[0081] This parallel monitoring and safety module utilizes the pressure transmission characteristics (incompressibility) of shear-thickened non-Newtonian fluids in a hardened state to convert vibration pressure into static pressure monitoring, enabling simplified and low-cost fault diagnosis of the complex transmission chain in the vibratory shovel module, which can greatly reduce maintenance costs.

[0082] Furthermore, considering the large size of the track slab mold during specific configuration, the optimal configuration for improving cleaning efficiency is as follows: Figure 2 and Figure 3 Multiple vibratory shovel modules are arrayed on the base 131. Moreover, the robotic arm 12 is configured to control the parallelism between the base 131 and the surface to be cleaned of the track plate mold according to the specific surface morphology of the track plate mold, so as to avoid damage caused by excessive pressing of the local shovel blade 3. Obviously, this control method is existing technology and can be fully implemented by those skilled in the art, so there is no need to elaborate.

[0083] Furthermore, on the one hand, the multiple vibratory shovel modules on the base 131 are arranged in a staggered array, and the cleaning paths of adjacent vibratory shovel modules overlap in the direction of the blade head extension of the shovel 3. This arrangement ensures that the cleaning unit 13 has no blind spots, and the synergistic impact of adjacent blades 3 in the overlapping area can generate a stress wave superposition effect, which can enhance the ability to break up thick crusts.

[0084] On the other hand, the control module is also configured to control the adjacent braking source 21 to output vibration with a preset phase difference in order to counteract the resonant reaction force on the cleaning unit 13. Thus, when the adjacent blades 3 vibrate with opposite phases, the resulting reaction forces cancel each other out on the base 131, thereby counteracting the resonant reaction force on the cleaning unit 13, reducing the vibration load on the robotic arm 12, and improving the positioning accuracy.

[0085] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," "third," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. "Above," "below," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0086] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A track slab mold cleaning robot, comprising a mobile carrier, a robotic arm mounted on the mobile carrier, and a cleaning unit connected to the end of the robotic arm, characterized in that, The cleaning unit includes a base, a plurality of vibrating shovel modules arrayed on the base, and a control module; The vibratory shovel module includes: The actuator is mounted on the base; A spatula, used to contact the surface of the mold; A variable stiffness transmission cavity is disposed between the output end of the actuation source and the blade, and its cavity is filled with a shear-thickening non-Newtonian fluid; and Feedback sensors are used to collect vibration spectrum signals generated by the impact between the blade and the contact surface; The control module is configured as follows: Controlling the actuator to output vibration at a first frequency drives the blade to operate in a first mode; and The material of the contact surface is determined based on the signal collected by the feedback sensor. If it is determined to be a non-metallic residue, the actuator source is controlled to output a vibration at a second frequency, driving the shovel to work in a second mode, wherein the second frequency is higher than the first frequency, causing the shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity to exhibit hardening characteristics and transmit a stronger impact force. If it is determined that the hard metal mold or residue has been removed, control the actuator to maintain or restore the vibration to the first frequency. The control module's logic for determining the material of the contact surface is as follows: When the actuation source outputs vibration at the first frequency, the high-frequency harmonic components of the feedback signal collected by the feedback sensor are monitored in real time. If the feedback signal contains high-frequency harmonic components with an amplitude exceeding a preset threshold, it is determined that the device is in contact with a hard metal mold, and the actuator is controlled to maintain the first frequency. If the feedback signal is mainly a low-frequency fundamental wave and the attenuation rate is higher than the preset value, it is determined that there is contact with non-metallic residue, and the actuator source is controlled to switch to the second frequency. The control module is also configured to: During the process of the actuation source vibrating and breaking the residue at the second frequency, the actuation source is controlled to periodically switch the frequency back to the first frequency for a short time, and the feedback sensor is used to detect whether the shovel is in contact with the hard metal mold. If the control module determines that the contact surface of the shovel is a hard metal mold, it determines that the residue has been removed and controls the actuator to maintain the first frequency to continue moving; if it still determines that the contact surface is a non-metallic residue, it controls the actuator to switch back to the second frequency to continue crushing.

2. The track slab mold cleaning robot according to claim 1, characterized in that, The output end of the actuator is connected to a cylinder, the variable stiffness transmission cavity is located inside the cylinder, and a piston rod is slidably arranged in the cylinder. One end of the piston rod extends into the shear-thickening non-Newtonian fluid in the variable stiffness transmission cavity, and the other end extends out of the cylinder and is connected to the shovel. The cylinder includes a rigid section and a flexible diaphragm segment near the actuation source, with the piston rod sliding within the rigid section.

3. The track slab mold cleaning robot according to claim 1, characterized in that, The multiple vibratory shovel modules on the base are arranged in an alternating array, and the cleaning paths of adjacent vibratory shovel modules have overlapping areas in the extension direction of the shovel blade head.

4. The track slab mold cleaning robot according to claim 3, characterized in that, The control module is also configured to control the adjacent actuation source to output vibration with a preset phase difference in order to counteract the resonant reaction force on the cleaning unit.

5. A track slab mold cleaning robot according to claim 1, characterized in that, The vibratory shovel module also includes a reset elastic element, which is arranged in parallel outside or inside the variable stiffness transmission cavity to provide an elastic restoring force to reset the blade during the return stroke of the actuation source.

6. A track slab mold cleaning robot according to claim 2, characterized in that, A pressure sensor is provided at one end of the piston rod that extends into the variable stiffness transmission cavity, and the control module is further configured to: When the actuation source outputs vibration at the second frequency, if the pressure value detected by the pressure sensor is less than a set threshold for a continuous set time, it is determined that the variable stiffness transmission cavity or the actuation source is disabled and an alarm signal is output.

7. A track slab mold cleaning robot according to claim 1, characterized in that, The chamfer of the blade head is set to an obtuse angle of R0.5 to R2.

0.

8. A track slab mold cleaning robot according to claim 1, characterized in that, The critical shear frequency of the shear-thickened non-Newtonian fluid in the variable stiffness transmission cavity is between the first frequency and the second frequency; the first frequency ranges from 10Hz to 100Hz, and the second frequency ranges from 1kHz to 20kHz.

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