An integrated control system and method for a concrete test block intelligent curing transfer, compression detection and waste recycling robot workstation

Abstract

The application discloses a kind of concrete test block intelligent maintenance transfer, compression detection and waste recovery integrated robot workstation integrated control system and method, and relates to the field of intelligent manufacturing technology. Including: divided into five big independent function modules, using partition power supply, partition communication, global linkage control mode;Five big independent function modules are constant temperature maintenance warehouse module, test block buffer and robot transfer operation module, detection operation module, man-machine interaction display and control module, waste recovery module respectively.The application is divided into five big independent no-dynamic-line interference function modules, uses double electric control cabinet partition isolation power distribution and doublet net layered communication architecture, carries composite AGV robot of built-in electric jacking platform, and is matched with three-stage relay type waste conveying system, double-press machine time-sharing scheduling control, realizes test block maintenance, transfer, detection, waste recovery whole process.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing technology, and more specifically to an integrated control system and method for an integrated robotic workstation for intelligent curing and transportation of concrete test blocks, compressive strength testing, and waste recycling. Background Technology

[0002] Traditional integrated testing equipment for concrete test blocks often adopts a single electrical control cabinet and a single communication bus layout. The mixed transmission of electrical loads and sensor signals can easily generate electromagnetic interference. Local failures can easily cause the entire production line to shut down. At the same time, the transfer equipment lacks an integrated lifting structure, requiring additional transplanting equipment, resulting in low utilization of production line space.

[0003] The existing testing line is only equipped with a single compression testing machine, lacks time-sharing scheduling control logic, and the waste conveying is mostly a single-section belt structure, which easily leads to waste residue accumulation and blockage. It is impossible to complete the fully automated linkage operation of test block curing, transfer, testing, and waste recycling.

[0004] Therefore, this paper proposes an integrated control system and method for an intelligent robotic workstation that integrates concrete specimen curing, transportation, compressive strength testing, and waste recycling to address the difficulties in existing technologies. This is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides an integrated control system and method for an integrated robot workstation for intelligent curing, transportation, compressive strength testing and waste recycling of concrete test blocks. It is divided into five independent functional modules without interference from moving lines, adopts a dual-control cabinet partitioned isolated power distribution and a dual-subnet hierarchical communication architecture, and is equipped with a composite AGV robot with a built-in electric lifting platform. It is combined with a three-level relay waste conveying system and dual-press time-sharing scheduling control to realize the whole process of test block curing, transportation, testing and waste recycling.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An integrated control system for a robotic workstation that integrates intelligent curing, transportation, compressive strength testing, and waste recycling of concrete test blocks includes five independent functional modules, employing a zoned power supply, zoned communication, and full-domain linkage control mode. The five independent functional modules are: constant temperature curing and storage module, test block buffer and robotic transfer operation module, testing operation module, human-machine interaction display and control module, and waste recycling module. The constant temperature curing storage module communicates with the first input terminal of the No. 2 electrical control subnet of the human-machine interaction display and control module. It is used to provide a standard constant temperature and humidity environment to complete the static curing of concrete test blocks, collect temperature and humidity data in real time and automatically calculate the curing time of the test blocks. When the curing time is up, it automatically generates an outbound transfer task. The test block caching and robot transfer module communicates with the input end of the No. 1 electrical control subnet of the human-machine interaction display and control module. It is used to temporarily cache the test block trays to be cured / cured and to complete the material transfer of the whole process. The testing module communicates with the second input terminal of the No. 2 electrical control subnet of the human-machine interaction display and control module, and is used to complete the compressive strength test of concrete test blocks. The human-machine interaction display and control module serves as the power supply and communication hub for the entire workstation, enabling physical isolation of the load, hierarchical signal transmission in dual subnets, unified scheduling of all equipment and visual display of operating data, and power outage of only the corresponding module in case of a single zone circuit failure. The waste recycling module communicates with the third input terminal of the No. 2 electrical control subnet of the human-machine interaction display and control module to realize centralized automatic recycling of waste.

[0007] Optionally, the constant temperature and humidity storage module is equipped with five independent vertical constant temperature and humidity intelligent curing cabinets. Each curing cabinet is equipped with an independent water supply and drainage pipeline, which includes a 4-point water inlet pipe, a water valve, an upward-facing DN50 drain pipe, and a tee. Independent water supply and drainage pipelines are used to provide stable and automatic water replenishment for the ultrasonic humidifier inside the maintenance cabinet, continuously ensuring a standard maintenance environment with constant temperature and humidity inside the cabinet; at the same time, the cooling condensate, humidification overflow water and wastewater from regular cleaning and replacement are centrally discharged from the cabinet.

[0008] Optionally, the test block buffer and robot transfer module includes a tray, a tray support, a composite robot, and a charging pile for the composite robot; The pallet support is equipped with a positioning pin, and the pallet is equipped with a positioning sleeve that matches the positioning pin; After receiving the storage location allocation information from the system, the composite robot moves to the corresponding pallet placement location and uses its own lifting function to transfer the pallet containing the test blocks to the target curing box location, with the aid of a vision camera for assisted positioning. The composite robot then uses its own grippers to send the test blocks into the curing cabinet for curing. The system automatically calculates the curing time of the test blocks. Once the curing period is up, the composite robot receives a system instruction to remove the corresponding test blocks from the curing cabinet and place them on the pallet. After the composite robot has completed the task, it moves to the pressure-resistant area docking and inspection module. The composite robot is equipped with a charging pile to enable the composite robot to recharge autonomously, and the entire process of material transfer is completed by the composite robot and its charging pile.

[0009] Optionally, the testing module includes a six-axis robot and two concrete compressive strength testing machines of the same specifications arranged side by side; The six-axis robot with vision scanning structure completes the loading and unloading operations of two concrete compressive strength testing machines in a time-sharing manner. The waste residue after the test is crushed is discharged from the bottom discharge port of the concrete compressive strength testing machine. The concrete compressive strength testing machine has automatic pressurization, automatic breaking, and automatic material discharge functions, and the test data is uploaded to the host computer in real time.

[0010] Optionally, the workstation PLC reads the working status of the two concrete compressive strength testing machines in real time to form a time-sharing scheduling structure: when a single concrete compressive strength testing machine is idle, the six-axis robot directly feeds materials to the idle workstation; when both concrete compressive strength testing machines are idle, materials are fed in sequence according to the preset priority; when both concrete compressive strength testing machines are working, the six-axis robot stands by in place.

[0011] Optionally, the human-computer interaction display and control module includes a display cabinet, control cabinet #1, and control cabinet #2; The display cabinet serves as the main human-machine interface terminal for the entire workstation. It connects to the electrical control subnet via an industrial switch, centrally displaying the real-time operating data and working status of the six-axis robot, two concrete compressive strength testing machines, the curing and transfer unit, and the waste recycling unit. It also provides visualized operation functions for system parameter configuration, test task setting, equipment start / stop control, and abnormal alarm handling. One industrial switch is installed in control cabinet #1, which is part of the electrical control subnet #1, and another industrial switch is installed in control cabinet #2, which is part of the electrical control subnet #2.

[0012] Optionally, control cabinet #1 is a dedicated power supply cabinet for the composite robot, and the built-in industrial switch forms the electrical control subnet of #1; the communication protocol of the electrical control subnet of #1 is TCP / IP Ethernet; Control cabinet #2 is the power supply cabinet for detection and auxiliary equipment. The built-in industrial switch constitutes the #2 electrical control subnet; the communication protocol of the #2 electrical control subnet is Modbus-RTU. The two industrial switches are cascaded using gigabit network cables, with independent power distribution to each zone. The host computer centrally manages the signals of all equipment. In the event of a local circuit failure, only the corresponding zone is powered off, while the remaining equipment continues to operate normally.

[0013] Optionally, the waste recycling module includes a first front-end waste conveying line, a second front-end waste conveying line, a collection conveying line, and an end-end waste conveying line; Four waste conveying lines form a three-level relay transfer structure. The first and second front-end waste conveying lines connect one-to-one with the bottom discharge ports of the two concrete compression testing machines. The waste residue is discharged into the waste pool through the collection conveying line and the end waste conveying line. The four waste conveyor lines are controlled and speed-regulated by a workstation PLC, and the entire line is equipped with photoelectric sensors to prevent material blockage, enabling centralized and automatic waste recycling.

[0014] An integrated control method for a robotic workstation integrating intelligent curing, transportation, compressive strength testing, and waste recycling of concrete test blocks, comprising the following steps: S1. The staff places the tray containing the test blocks into the tray support buffer position; S2. The control system drives the composite robot to move, and the lidar and positioning camera correct the deviation in real time. After it travels to the bottom of the pallet, the electric lifting platform lifts up the pallet to receive it. S3. The composite robot travels to the target curing cabinet according to the storage location assigned by the system. After visual-assisted positioning, the fixture puts the test block into the curing cabinet for curing. The system automatically times the curing time. After the curing time expires, the composite robot takes out the test block, places it on a tray, and transfers it to the testing area. S4 and PLC read the operating conditions of the two concrete compressive strength testing machines, and the six-axis robot delivers test blocks to the idle concrete compressive strength testing machines in a time-sharing manner. S5. After the six-axis robot returns to the safe area, the concrete compressive strength testing machine starts the pressure test; after the test is completed, the test block breaks, and the cylinder pushes out the waste material, which falls to the first front waste conveyor line and the second front waste conveyor line below; S6. The first front-end waste conveying line and the second front-end waste conveying line respectively transfer the corresponding compression machine waste to the collection conveying line. The collection conveying line transfers the waste to the end waste conveying line and discharges it into the waste pool. S7. After the entire process is completed, the equipment is reset and the composite robot is idle and in standby mode. When the battery level is lower than the threshold, it automatically goes to the charging station to charge and waits for the next batch of test blocks to be processed, thus achieving unmanned continuous cycle operation.

[0015] As can be seen from the above technical solution, compared with the prior art, the present invention provides an integrated control system and method for an integrated robotic workstation for intelligent curing and transportation of concrete test blocks, compressive strength testing, and waste recycling, which has the following beneficial effects: This invention is divided into five independent, non-interference-free functional modules. It adopts a dual-control cabinet partitioned isolated power distribution and a dual-subnet hierarchical communication architecture. It is equipped with a composite AGV robot with a built-in electric lifting platform, a three-level relay waste conveying system, and dual-press time-sharing scheduling control to realize the whole process of test block curing, transfer, testing, and waste recycling. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This invention provides a schematic diagram of the integrated control system structure of a robotic workstation that integrates intelligent curing and transportation, compressive strength testing, and waste recycling of concrete test blocks. Figure 2 This is an interactive diagram of the composite robot and intelligent maintenance cabinet provided by the present invention; Figure 3 The composite robot provided by this invention is shown in the diagram of transporting the test block to be tested. Figure 4 The six-axis robot provided by this invention is performing a pressure-resistant operation. Figure 5 The six-axis robot provided by this invention is performing an inspection operation. Among them, 1-constant temperature curing and storage module, 2-test block buffer and robot transfer operation module, 3-composite robot and its charging pile, 4-inspection operation module, 5-display cabinet, 6-1# control cabinet, 7-2# control cabinet, 8-waste recycling module, 9-concrete compressive strength testing machine, 10-six-axis robot control cabinet, 11-dimensional measurement module, 12-sample retention trolley. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] See Figure 1 , Figure 2 , Figure 3 As shown, this invention discloses an integrated control system for a robotic workstation that integrates intelligent curing and transportation, compressive strength testing, and waste recycling of concrete test blocks. The system comprises five independent functional modules, employing a zoned power supply, zoned communication, and full-domain linkage control mode. The five independent functional modules are: constant temperature curing and storage module 1, test block buffering and robotic transfer module 2, testing module 4, human-machine interaction display and control module, and waste recycling module 8. The constant temperature curing storage module 1 communicates with the first input terminal of the 2# electrical control subnet of the human-machine interaction display and control module. It is used to provide a standard constant temperature and humidity environment to complete the static curing of concrete test blocks, collect temperature and humidity data in real time and automatically calculate the curing time of the test blocks. When the curing expires, it automatically generates an outbound transfer task. The test block caching and robot transfer module 2 communicates with the input end of the No. 1 electrical control subnet of the human-machine interaction display and control module. It is used to temporarily cache the test block trays to be cured / cured and to complete the material transfer of the whole process. The testing module 4 communicates with the second input terminal of the #2 electrical control subnet of the human-machine interaction display and control module, and is used to complete the compressive strength test of concrete test blocks. The human-machine interaction display and control module serves as the power supply and communication hub for the entire workstation, enabling physical isolation of the load, hierarchical signal transmission in dual subnets, unified scheduling of all equipment and visual display of operating data, and power outage of only the corresponding module in case of a single zone circuit failure. The waste recycling module 8 communicates with the third input terminal of the #2 electrical control subnet of the human-machine interaction display and control module to realize centralized automatic recycling of waste.

[0020] Furthermore, the constant temperature and humidity storage module 1 is equipped with five independent vertical constant temperature and humidity intelligent curing cabinets. Each curing cabinet is equipped with an independent water supply and drainage pipeline, which includes a 4-point water inlet pipe, a water valve, an upward-facing DN50 drain pipe, and a tee. Independent water supply and drainage pipelines are used to provide stable and automatic water replenishment for the ultrasonic humidifier inside the maintenance cabinet, continuously ensuring a standard maintenance environment with constant temperature and humidity inside the cabinet; at the same time, the cooling condensate, humidification overflow water and wastewater from regular cleaning and replacement are centrally discharged from the cabinet.

[0021] Furthermore, the test block cache and robot transfer module 2 includes a tray, a tray support, a composite robot, and a charging pile for the composite robot; The pallet support is equipped with a positioning pin, and the pallet is equipped with a positioning sleeve that matches the positioning pin; After receiving the storage location allocation information from the system, the composite robot moves to the corresponding pallet placement location and uses its own lifting function to transfer the pallet containing the test blocks to the target curing box location, with the aid of a vision camera for assisted positioning. The composite robot then uses its own grippers to send the test blocks into the curing cabinet for curing. The system automatically calculates the curing time of the test blocks. Once the curing period is up, the composite robot receives a system instruction to remove the corresponding test blocks from the curing cabinet and place them on the pallet. After the composite robot has completed the task, it moves to the pressure-resistant area docking and inspection module 4. The composite robot is equipped with a charging pile to enable the composite robot to replenish its power autonomously, and the entire process of material transfer is completed by the composite robot and its charging pile.

[0022] Furthermore, such as Figure 4 As shown, the testing module 4 includes a six-axis robot and two concrete compressive strength testing machines 9 of the same specifications arranged side by side; The six-axis robot with vision scanning structure completes the loading and unloading operations of two concrete compressive strength testing machines 9 in a time-sharing manner. The waste residue after the test is crushed is discharged from the bottom discharge port of the concrete compressive strength testing machine 9. The concrete compressive strength testing machine 9 has automatic pressurization, automatic breaking, and automatic material discharge functions, and the test data is uploaded to the host computer in real time.

[0023] Specifically, such as Figure 5 As shown, the inspection module 4 also includes a six-axis robot control cabinet 10, a dimension measurement module 11, and two sample retention carts 12; The six-axis robot control cabinet 10 is a dedicated control unit for the six-axis robot. The cabinet integrates the six-axis robot main controller, servo drive module, digital I / O module and industrial Ethernet communication interface. It is used to receive scheduling instructions from the workstation PLC, control the six-axis robot to complete the actions of picking and transferring test blocks, storing and retrieving in the curing bin, loading and unloading in the compression testing machine, and disposing and recycling waste materials. It also provides real-time feedback on the robot's operating status, position parameters and abnormal alarm information to ensure the coordinated operation of the robot and all modules of the station. The dimension measurement module 11 uses a high-precision laser rangefinder sensor and an algorithm to measure the side length of the specimen; it is equipped with an intelligent barcode scanner to identify the QR code on the surface of the specimen, enabling the confirmation and interaction of specimen information; the repeatability of the dimension measurement module 11 is 0.2 mm, the measurement range is ±80 mm, and the straightness is ±0.2%FS. Two sample retention trolleys connected to two front-end conveyor lines are dedicated vehicles for the storage and transportation of concrete test blocks, and adopt a movable frame structure with casters.

[0024] Furthermore, the workstation PLC reads the working status of the two concrete compression testing machines 9 in real time, forming a time-sharing scheduling structure: when a single concrete compression testing machine 9 is idle, the six-axis robot directly feeds materials to the idle workstation; when both concrete compression testing machines 9 are idle, materials are fed in sequence according to the preset priority; when both concrete compression testing machines 9 are working, the six-axis robot stands by in place.

[0025] Furthermore, the human-computer interaction display and control module includes display cabinet 5, control cabinet #1 6, and control cabinet #2 7; Display cabinet 5 serves as the main human-machine interface terminal for the entire workstation. It connects to the electrical control subnet via an industrial switch, centrally displaying the real-time operating data and working status of the six-axis robot, two concrete compressive strength testing machines 9, the curing and transfer unit, and the waste recycling unit. It also provides visualized operation functions for system parameter configuration, test task setting, equipment start / stop control, and abnormal alarm handling. An industrial switch is installed in control cabinet 6 (1#) for electrical control subnet 1, and an industrial switch is installed in control cabinet 7 (2#) for electrical control subnet 2.

[0026] Furthermore, control cabinet #1 is a dedicated power supply cabinet for the composite robot, and the built-in industrial switch forms the #1 electrical control subnet; the communication protocol of the #1 electrical control subnet is TCP / IP Ethernet; Control cabinet #2, section 7, is the power supply cabinet for detection and auxiliary equipment. The built-in industrial switch forms the #2 electrical control subnet; the communication protocol of the #2 electrical control subnet is Modbus-RTU. The two industrial switches are cascaded using gigabit network cables, with independent power distribution to each zone. The host computer centrally manages the signals of all equipment. In the event of a local circuit failure, only the corresponding zone is powered off, while the remaining equipment continues to operate normally.

[0027] Furthermore, the waste recycling module 8 includes a first front-end waste conveying line, a second front-end waste conveying line, a collection conveying line, and an end-end waste conveying line; The four waste conveying lines form a three-level relay transfer structure. The first and second front-end waste conveying lines connect one-to-one with the bottom discharge ports of the two concrete compression testing machines 9. The waste residue is discharged into the waste pool through the collection conveying line and the end waste conveying line. The four waste conveyor lines are controlled and speed-regulated by the workstation PLC to achieve centralized and automatic waste recycling.

[0028] In one specific embodiment, the following is included: Workers place the pallet containing the test blocks into the pallet support buffer position; the control system drives the composite robot to move, with LiDAR and positioning cameras providing real-time correction; after reaching the bottom of the pallet, the electric lifting platform lifts and receives the pallet; the composite robot moves to the target curing cabinet according to the system's assigned storage location, and after vision-assisted positioning, the gripper places the test block into the curing cabinet for curing; the system automatically times the curing time, and after the curing period, the composite robot removes the test block, places it on the pallet, and transports it to the testing area; the PLC reads the operating conditions of the two concrete compressive strength testing machines 9, and the six-axis robot delivers the test block to the idle concrete compressive strength testing machine 9 in shifts. Test block; after the six-axis robot retreats to the safe area, the concrete compressive strength testing machine 9 starts the pressure test; after the test is completed, the test block breaks, and the cylinder pushes out the waste material, which falls to the first front waste conveyor line and the second front waste conveyor line below; the first front waste conveyor line and the second front waste conveyor line respectively transfer the corresponding compressive strength test waste to the collection conveyor line, and the collection conveyor line transfers the waste to the end waste conveyor line, which discharges it into the waste pool; after the entire process is completed, the equipment is reset, and the composite robot is idle and in standby mode; when the power is lower than the threshold, it automatically goes to the charging pile to charge, waiting for the next batch of test blocks to be processed, realizing unmanned continuous cycle operation.

[0029] An integrated control method for a robotic workstation integrating intelligent curing, transportation, compressive strength testing, and waste recycling of concrete test blocks, comprising the following steps: S1. The staff places the tray containing the test blocks into the tray support buffer position; S2. The control system drives the composite robot to move, and the lidar and positioning camera correct the deviation in real time. After it travels to the bottom of the pallet, the electric lifting platform lifts up the pallet to receive it. S3. The composite robot travels to the target curing cabinet according to the storage location assigned by the system. After visual-assisted positioning, the fixture puts the test block into the curing cabinet for curing. The system automatically times the curing time. After the curing time expires, the composite robot takes out the test block, places it on a tray, and transfers it to the testing area. S4 and PLC read the working conditions of the two concrete compressive strength testing machines 9, and the six-axis robot puts test blocks into the idle concrete compressive strength testing machine 9 in a time-sharing manner; S5. After the six-axis robot returns to the safe area, the concrete compressive strength testing machine 9 starts the pressure test; after the test is completed, the test block breaks, and the cylinder pushes out the waste material, which falls to the first front waste conveyor line and the second front waste conveyor line below. S6. The first front-end waste conveying line and the second front-end waste conveying line respectively transfer the corresponding compression machine waste to the collection conveying line. The collection conveying line transfers the waste to the end waste conveying line and discharges it into the waste pool. S7. After the entire process is completed, the equipment is reset and the composite robot is idle and in standby mode. When the battery level is lower than the threshold, it automatically goes to the charging station to charge and waits for the next batch of test blocks to be processed, thus achieving unmanned continuous cycle operation.

[0030] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0031] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An integrated control system for a robotic workstation that integrates intelligent curing and transportation, compressive strength testing, and waste recycling of concrete test blocks, characterized in that, include: It is divided into five independent functional modules, adopting a zoned power supply, zoned communication, and full-domain linkage control mode; the five independent functional modules are: constant temperature curing and storage module, test block buffer and robot transfer operation module, testing operation module, human-machine interaction display and control module, and waste recycling module. The constant temperature curing storage module communicates with the first input terminal of the No. 2 electrical control subnet of the human-machine interaction display and control module. It is used to provide a standard constant temperature and humidity environment to complete the static curing of concrete test blocks, collect temperature and humidity data in real time, automatically calculate the curing time of the test blocks, and automatically generate outbound transfer tasks when the curing period expires. The test block caching and robot transfer module communicates with the input end of the No. 1 electrical control subnet of the human-machine interaction display and control module. It is used to temporarily cache the test block trays to be cured / cured and to complete the material transfer of the whole process. The testing module communicates with the second input terminal of the No. 2 electrical control subnet of the human-machine interaction display and control module, and is used to complete the compressive strength test of concrete test blocks. The human-machine interaction display and control module serves as the power supply and communication hub for the entire workstation, enabling physical isolation of the load, hierarchical signal transmission in dual subnets, unified scheduling of all equipment and visual display of operating data, and power outage of only the corresponding module in case of a single zone circuit failure. The waste recycling module communicates with the third input terminal of the No. 2 electrical control subnet of the human-machine interaction display and control module to realize centralized automatic recycling of waste.

2. The integrated control system for an intelligent curing, transportation, compressive strength testing, and waste recycling robot workstation for concrete test blocks according to claim 1, characterized in that, The constant temperature and humidity storage module is equipped with five independent vertical constant temperature and humidity intelligent curing cabinets. Each curing cabinet is equipped with an independent water supply and drainage pipeline, which includes a 4-point water inlet pipe, a water valve, an upward-facing DN50 drain pipe, and a tee. Independent water supply and drainage pipelines are used to provide stable and automatic water replenishment for the ultrasonic humidifier inside the maintenance cabinet, continuously ensuring a standard maintenance environment with constant temperature and humidity inside the cabinet; at the same time, the cooling condensate, humidification overflow water and wastewater from regular cleaning and replacement are centrally discharged from the cabinet.

3. The integrated control system for an intelligent curing, transportation, compressive strength testing, and waste recycling robot workstation for concrete test blocks according to claim 1, characterized in that, The test block buffer and robot transfer module includes a tray, a tray support, a composite robot, and a charging pile for the composite robot. The pallet support is equipped with a positioning pin, and the pallet is equipped with a positioning sleeve that matches the positioning pin; After receiving the storage location allocation information from the system, the composite robot moves to the corresponding pallet placement location and uses its own lifting function to transfer the pallet containing the test blocks to the target curing box location, with the aid of a vision camera for assisted positioning. The composite robot then uses its own grippers to send the test blocks into the curing cabinet for curing. The system automatically calculates the curing time of the test blocks. Once the curing period is up, the composite robot receives a system instruction to remove the corresponding test blocks from the curing cabinet and place them on the pallet. After the composite robot has completed the task, it moves to the pressure-resistant area docking and inspection module. The composite robot is equipped with a charging pile to enable the composite robot to recharge autonomously, and the entire process of material transfer is completed by the composite robot and its charging pile.

4. The integrated control system for an intelligent curing, transportation, compressive strength testing, and waste recycling robot workstation for concrete test blocks according to claim 1, characterized in that, The testing module includes a six-axis robot and two concrete compressive strength testing machines of the same specifications arranged side by side; The six-axis robot with vision scanning structure completes the loading and unloading operations of two concrete compressive strength testing machines in a time-sharing manner. The waste residue after the test is crushed is discharged from the bottom discharge port of the concrete compressive strength testing machine. The concrete compressive strength testing machine has automatic pressurization, automatic breaking, and automatic material discharge functions, and the test data is uploaded to the host computer in real time.

5. The integrated control system for an intelligent curing, transportation, compressive strength testing, and waste recycling robot workstation for concrete test blocks according to claim 4, characterized in that, The workstation PLC reads the working status of the two concrete compressive strength testing machines in real time, forming a time-sharing scheduling structure: when a single concrete compressive strength testing machine is idle, the six-axis robot directly feeds materials to the idle workstation; when both concrete compressive strength testing machines are idle, materials are fed in sequence according to the preset priority; when both concrete compressive strength testing machines are working, the six-axis robot stands by in place.

6. The integrated control system for an intelligent curing, transportation, compressive strength testing, and waste recycling robot workstation for concrete test blocks according to claim 1, characterized in that, The human-computer interaction display and control module includes a display cabinet, control cabinet #1, and control cabinet #2. The display cabinet serves as the main human-machine interface terminal for the entire workstation. It connects to the electrical control subnet via an industrial switch, centrally displaying the real-time operating data and working status of the six-axis robot, two concrete compressive strength testing machines, the curing and transfer unit, and the waste recycling unit. It also provides visualized operation functions for system parameter configuration, test task setting, equipment start / stop control, and abnormal alarm handling. One industrial switch is installed in control cabinet #1, which is part of the electrical control subnet #1, and another industrial switch is installed in control cabinet #2, which is part of the electrical control subnet #2.

7. The integrated control system for an intelligent curing, transportation, compressive strength testing, and waste recycling robot workstation for concrete test blocks according to claim 6, characterized in that, Control cabinet #1 is a dedicated power supply cabinet for the composite robot, and the built-in industrial switch forms the #1 electrical control subnet; the communication protocol of the #1 electrical control subnet is TCP / IP Ethernet; Control cabinet #2 is the power supply cabinet for detection and auxiliary equipment. The built-in industrial switch constitutes the #2 electrical control subnet; the communication protocol of the #2 electrical control subnet is Modbus-RTU. The two industrial switches are cascaded using gigabit network cables, with independent power distribution to each zone. The host computer centrally manages the signals of all equipment. In the event of a local circuit failure, only the corresponding zone is powered off, while the remaining equipment continues to operate normally.

8. The integrated control system for an intelligent curing, transportation, compressive strength testing, and waste recycling robot workstation for concrete test blocks according to claim 1, characterized in that, The waste recycling module includes a first front-end waste conveying line, a second front-end waste conveying line, a collection conveying line, and an end-end waste conveying line; Four waste conveying lines form a three-level relay transfer structure. The first and second front-end waste conveying lines connect one-to-one with the bottom discharge ports of the two concrete compression testing machines. The waste residue is discharged into the waste pool through the collection conveying line and the end waste conveying line. The four waste conveyor lines are controlled and speed-regulated by a workstation PLC, and the entire line is equipped with photoelectric sensors to prevent material blockage, enabling centralized and automatic waste recycling.

9. An integrated control method for a robotic workstation that integrates intelligent curing, transportation, compressive strength testing, and waste recycling of concrete test blocks, characterized in that... The integrated control system for an intelligent curing, transportation, compressive strength testing, and waste recycling robot workstation of concrete test blocks as described in any one of claims 1-8 includes the following steps: S1. The staff places the tray containing the test blocks into the tray support buffer position; S2. The control system drives the composite robot to move, and the lidar and positioning camera correct the deviation in real time. After it travels to the bottom of the pallet, the electric lifting platform lifts up the pallet to receive it. S3. The composite robot travels to the target curing cabinet according to the storage location assigned by the system. After visual-assisted positioning, the fixture puts the test block into the curing cabinet for curing. The system automatically times the curing time. After the curing time expires, the composite robot takes out the test block, places it on a tray, and transfers it to the testing area. S4 and PLC read the operating conditions of the two concrete compressive strength testing machines, and the six-axis robot delivers test blocks to the idle concrete compressive strength testing machines in a time-sharing manner. S5. After the six-axis robot returns to the safe area, the concrete compressive strength testing machine starts the pressure test; after the test is completed, the test block breaks, and the cylinder pushes out the waste material, which falls to the first front waste conveyor line and the second front waste conveyor line below; S6. The first front-end waste conveying line and the second front-end waste conveying line respectively transfer the corresponding compression machine waste to the collection conveying line. The collection conveying line transfers the waste to the end waste conveying line and discharges it into the waste pool. S7. After the entire process is completed, the equipment is reset and the composite robot is idle and in standby mode. When the battery level is lower than the threshold, it automatically goes to the charging station to charge and waits for the next batch of test blocks to be processed, thus achieving unmanned continuous cycle operation.

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