CN116038107A

CN116038107A - Device for processing recycled concrete and control method thereof

Info

Publication number: CN116038107A
Application number: CN202211206981.6A
Authority: CN
Inventors: 汤玉娟; 吴玉龙; 吴书安; 方正青; 仝小芳; 闫玉蓉
Original assignee: Yangzhou Polytechnic College
Current assignee: Yangzhou Polytechnic College
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2023-05-02

Abstract

The invention discloses a device for processing recycled concrete and a control method thereof, the device comprises a cutting module and a blanking module, the cutting module comprises a mounting base, a plurality of supporting beams are arranged at the top of the mounting base at intervals along the length direction, a first mounting plate and a second mounting plate are respectively arranged at the left side and the right side of the supporting beam, a first driving motor is fixedly arranged on the first mounting plate, the output end of the first driving motor is connected with a first threaded screw rod in a matched manner, a first sliding block is connected onto the first threaded screw rod in a sliding manner, and a first connecting block is fixedly arranged on the first sliding block, so that microcracks existing in a cutting path area are not influenced by cutting parameters and extend to a stress concentration area, the rejection rate of cutting finished products is reduced while the cutting efficiency is ensured, and the energy consumption is reduced to a certain extent.

Description

Device for processing recycled concrete and control method thereof

Technical Field

The invention relates to the technical field of concrete cutting equipment, in particular to a device for processing recycled concrete and a control method thereof.

Background

The recycled concrete is new concrete prepared by crushing, cleaning and grading waste concrete blocks, mixing the crushed, cleaned and graded concrete blocks with the graded concrete blocks according to a certain proportion, partially or completely replacing natural aggregates (mainly coarse aggregates) such as sand and the like, and adding cement, water and the like. The recycled concrete can be in the form of aggregate combinations in the following cases: the aggregate is all regenerated aggregate; the coarse aggregate is regenerated aggregate, and the fine aggregate is natural sand; the coarse aggregate is natural broken stone or pebble, and the fine aggregate is regenerated aggregate; the regenerated aggregate replaces part of the coarse aggregate or the fine aggregate. Because the waste concrete is subjected to larger external force in the crushing process, a large number of micro cracks appear in the aggregate, so that more micro cracks often exist in the recycled concrete blocks, and therefore, in the process of cutting and dividing the recycled concrete, how to ensure that the micro cracks can not extend to stress concentrated areas of the concrete blocks while ensuring the cutting efficiency is always a research hot spot, the invention provides a device for processing the recycled concrete and a control method thereof, and further solves the problems.

Disclosure of Invention

The invention overcomes the defects of the prior art and provides a device for processing recycled concrete and a control method thereof.

The technical scheme adopted by the invention for achieving the purpose is as follows:

the invention discloses a device for processing recycled concrete, which comprises a cutting module and a blanking module;

the cutting module comprises a mounting base, a plurality of supporting beams are arranged at the top of the mounting base along the length direction at intervals, a first mounting plate and a second mounting plate are respectively arranged at the left side and the right side of the supporting beam, a first driving motor is fixedly arranged on the first mounting plate, the output end of the first driving motor is connected with a first threaded screw rod in a matched mode, a first sliding block is connected onto the first threaded screw rod in a sliding mode, a first connecting block is fixedly arranged on the first sliding block, a second driving motor is fixedly arranged on the second mounting plate, a second threaded screw rod is fixedly connected onto the output end of the second driving motor in a matched mode, a second sliding block is connected onto the second threaded screw rod in a sliding mode, and a second connecting block is fixedly arranged on the second sliding block;

a third mounting plate is fixedly arranged between the first connecting block and the second connecting block, a third driving motor is fixedly arranged on the third mounting plate, the output end of the third driving motor is connected with a third threaded screw rod in a matched mode, a third sliding block is connected onto the third threaded screw rod in a sliding mode, a third connecting block is fixedly arranged on the third sliding block, a fourth driving motor is fixedly arranged on the third connecting block, the output end of the fourth driving motor is connected with a fourth threaded screw rod in a matched mode, a fourth sliding block is connected onto the fourth threaded screw rod in a sliding mode, and a fourth connecting block is fixedly connected onto the fourth sliding block;

And the fourth connecting block is fixedly provided with a laser cutting head, a laser preheating head, an ultrasonic detector and an industrial camera.

Further, in a preferred embodiment of the present invention, the mounting base is provided with a plurality of rows and a plurality of columns of electric telescopic rods, and the top of each electric telescopic rod is connected with a push plate in a matching manner.

Further, in a preferred embodiment of the present invention, a row of motorized telescopic rods is provided between each two support beams, and the push plate can extend along the area between the two support beams when the motorized telescopic rods are driven to extend.

Further, in a preferred embodiment of the present invention, the blanking module includes a mounting block, a sliding rail is fixedly mounted on the mounting block, a sliding block is slidably connected on the sliding rail, a fifth driving motor is fixedly mounted on the sliding block, an output end of the fifth driving motor is cooperatively connected with a rotating shaft, a gear is cooperatively connected with the rotating shaft, a rack is fixedly mounted on the sliding rail, and the gear is meshed with the rack for transmission.

Further, in a preferred embodiment of the present invention, the slider is provided with a multi-axis linkage manipulator, the multi-axis linkage manipulator includes a rotating table, a first mechanical arm is cooperatively connected to the rotating table, a second mechanical arm is cooperatively connected to the first mechanical arm, a third mechanical arm is cooperatively connected to the second mechanical arm, a universal rotator is cooperatively connected to the end of the third mechanical arm, and a clamping mechanism is cooperatively connected to the universal rotator.

Further, in a preferred embodiment of the present invention, the clamping mechanism includes a fixing plate, hinge bases are disposed on four corners of the fixing plate, hinge blocks are hinged on the hinge bases, a cross bar is fixedly connected between two hinge blocks on the left side and the right side of the fixing plate, a plurality of L-shaped clamping bars are disposed on the cross bar along the length direction, a first air cylinder is fixedly mounted on the hinge bases, an output end of the first air cylinder is connected with one end of the first push rod in a matched manner, and the other end of the first push rod is connected with the hinge blocks in a matched manner.

Further, in a preferred embodiment of the present invention, at least two second cylinders are further disposed at the bottom of the fixing plate, an output end of each second cylinder is connected with one end of a second push rod in a matching manner, the other end of each second push rod is connected with a pressing plate in a matching manner, and a pressure sensor is disposed on the pressing plate.

The invention also discloses a control method of a device for processing recycled concrete, which is applied to any device for processing recycled concrete and comprises the following steps:

acquiring processing drawing information of a workpiece to be cut, and extracting processing parameter information from the processing drawing information;

Generating a scanning path of an ultrasonic detector based on the processing parameter information, controlling the ultrasonic detector to scan and detect a preset area of a workpiece to be cut based on the scanning path so as to obtain characteristic information of each micro-crack on the preset area, and establishing a first crack three-dimensional model based on the characteristic information;

judging the crack type of each micro-crack based on the characteristic information of each micro-crack; wherein the crack types are classified into X-type cracks, Y-type cracks and Z-type cracks;

removing the Z-shaped crack from the first crack three-dimensional model to obtain a second crack three-dimensional model;

calculating the cracking index of each micro-crack in the second crack three-dimensional model according to the characteristic information and the processing parameter information, and judging whether the cracking index of each micro-crack is larger than a preset threshold value;

if the crack is not larger than the first crack, marking the microcrack as a non-extendable crack, and removing the non-extendable crack from the second crack three-dimensional model;

if the crack is larger than the first crack, marking the microcrack as an extendable crack, and keeping the extendable crack in the second crack three-dimensional model to obtain a third crack three-dimensional model, and carrying out next judgment on the extendable crack.

Further, in a preferred embodiment of the present invention, the extendable crack is further determined, specifically:

judging whether the extendable crack in the third crack three-dimensional model is an X-type crack or a Y-type crack;

if the X-shaped crack is formed, predicting a first extension length of the X-shaped crack based on the characteristic information, and judging whether the X-shaped crack extends to a stress concentration area or not based on the first extension length;

if the X-shaped crack does not extend into the stress concentration area, marking the position area of the X-shaped crack as a safe processing area, and cutting the safe processing area according to initial cutting parameters;

if the X-shaped crack extends into the stress concentration area, marking the position area of the X-shaped crack as a dangerous processing area, preheating the dangerous area before cutting the dangerous area, and cutting the dangerous area by using initial cutting parameters.

Further, in a preferred embodiment of the present invention, the method further comprises the steps of:

if the crack is Y-shaped, predicting a second extension length of the Y-shaped crack based on the characteristic information;

and marking the second extension length area as a cutting parameter adjustment area, and adjusting the laser cutting power and the laser feeding speed to be higher when the cutting parameter adjustment area is cut.

The invention solves the technical defects existing in the background technology, and has the following beneficial effects: before cutting the recycled concrete, the characteristic information of the microcracks in the recycled concrete is detected by an ultrasonic detector, the microcracks are classified, and then the extension probability and the extension length of the microcracks are judged, so that the cutting parameters are further adjusted through the extension probability and the extension length, the microcracks in the cutting path area are prevented from being influenced by the cutting parameters and extend to the stress concentration area, the cutting efficiency is ensured, the rejection rate of a finished cut product is reduced, and the energy consumption is reduced to a certain extent.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other embodiments of the drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of the device at a first view angle;

FIG. 2 is a schematic view of the overall structure of the device at a second view angle;

FIG. 3 is a schematic view of a cutting module;

FIG. 4 is a schematic view of the installation position structure of the third driving motor;

FIG. 5 is a schematic view of the installation position structure of the fourth driving motor;

FIG. 6 is a schematic diagram of the structure of the blanking module;

FIG. 7 is a schematic view of the mounting position of the gear and rack;

FIG. 8 is a schematic view of a first view structure of the clamping mechanism;

FIG. 9 is a schematic view of a second view structure of the clamping mechanism;

the reference numerals are explained as follows: 101. a mounting base; 102. a support beam; 103. a first mounting plate; 104. a second mounting plate; 105. a first driving motor; 106. a first threaded screw; 107. a first slider; 108. a first connection block; 109. a second driving motor; 201. a second threaded screw rod; 202. a second slider; 203. a second connection block; 204. a third mounting plate; 205. a third driving motor; 206. a third threaded screw rod; 207. a third slider; 208. a third connecting block; 209. a fourth driving motor; 301. a fourth threaded screw; 302. a fourth slider; 303. a fourth connecting block; 304. a laser cutting head; 305. a laser preheating head; 306. an ultrasonic detector; 307. an electric telescopic rod; 308. a push plate; 309. a mounting block; 401. a slide rail; 402. a slide block; 403. a fifth driving motor; 404. a rotation shaft; 405. a gear; 406. a rack; 407. a multi-axis linkage manipulator; 408. a rotating table; 409. a first mechanical arm; 501. a second mechanical arm; 502. a third mechanical arm; 503. a universal rotator; 504. a clamping mechanism; 505. a fixing plate; 506. a hinge base; 507. a hinge block; 508. a cross bar; 509. an L-shaped clamping rod; 601. a first cylinder; 602. a first push rod; 603. a second cylinder; 604. a second push rod; 605. and a compacting plate.

Detailed Description

In order that the above objects, features and advantages of the invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and detailed description thereof, which are simplified schematic drawings which illustrate only the basic structure of the invention and therefore show only those features which are relevant to the invention, it being noted that embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may include one or more of the feature, either explicitly or implicitly. In the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application can be understood by those of ordinary skill in the art in a specific context.

In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The invention discloses a device for processing recycled concrete, which is shown in figures 1 and 2 and comprises a cutting module and a blanking module.

As shown in fig. 3, 4 and 5, the cutting module comprises a mounting base 101, a plurality of supporting beams 102 are arranged at the top of the mounting base 101 along the length direction at intervals, a first mounting plate 103 and a second mounting plate 104 are respectively arranged at the left side and the right side of each supporting beam, a first driving motor 105 is fixedly mounted on the first mounting plate 103, the output end of the first driving motor 105 is connected with a first threaded screw 106 in a matched manner, a first sliding block 107 is slidingly connected on the first threaded screw 106, a first connecting block 108 is fixedly mounted on the first sliding block 107, a second driving motor 109 is fixedly mounted on the second mounting plate 104, a second threaded screw 201 is fixedly connected with the output end of the second driving motor 109 in a matched manner, a second sliding block 202 is slidingly connected on the second threaded screw 201, and a second connecting block 203 is fixedly mounted on the second sliding block 202.

The third mounting plate 204 is fixedly mounted between the first connecting block 108 and the second connecting block 203, the third driving motor 205 is fixedly mounted on the third mounting plate 204, the output end of the third driving motor 205 is connected with a third threaded screw rod 206 in a matched manner, the third threaded screw rod 206 is slidably connected with a third sliding block 207, the third connecting block 207 is fixedly mounted with a third connecting block 208, the third connecting block 208 is fixedly mounted with a fourth driving motor 209, the output end of the fourth driving motor 209 is fixedly connected with a fourth threaded screw rod 301 in a matched manner, the fourth threaded screw rod 301 is slidably connected with a fourth sliding block 302, and the fourth sliding block 302 is fixedly connected with a fourth connecting block 303.

The fourth connecting block 303 is fixedly provided with a laser cutting head 304, a laser preheating head 305, an ultrasonic detector 306 and an industrial camera.

It should be noted that, the concrete to be cut may be transferred to the preset position of the supporting beam 102 by a manual or automatic feeding manipulator, so that the feeding process is completed by the manual or automatic feeding manipulator, and the feeding is performed by the manual or automatic feeding manipulator, which is not limited herein, and the user may select according to the actual situation. After the feeding is completed, the control system controls the industrial camera to be started, the image information of the concrete to be cut is obtained through the industrial camera, whether the feeding position of the concrete is accurate or not is judged through the obtained image information, if not, alarm information is sent out, and accordingly workers are reminded of correcting the position of the concrete, and further machining accuracy is improved. If the position is accurate, the control system will acquire cutting path information, then control the ultrasonic detector 306 to scan and detect the cutting path region according to the cutting path information, thereby acquiring the characteristic information of the microcracks in the concrete in the cutting path region, then adjust the cutting parameters according to the characteristic information, and then control the laser cutting head 304 to cut the concrete according to the preset cutting path and the preset cutting parameters. The working principle and working process of the control system for controlling the laser cutting head 304 to cut concrete are as follows: the first driving motor 105 and the second driving motor 109 are controlled to start simultaneously, synchronously and in the same direction, so that the first driving motor 105 drives the first threaded screw rod 106 to rotate, and the first sliding block 107 can slide along the first threaded screw rod 106; the second driving motor 109 drives the second threaded screw rod 201 to rotate, so that the second sliding block 202 can slide along the second threaded screw rod 201, and the first sliding block 107 and the second sliding block 202 can be controlled to move back and forth along the X-axis direction of the mounting base 101 by controlling the first driving motor 105 and the second driving motor 109 to rotate forward or reversely, so that the laser cutting head 304 can cut concrete in the X-axis direction. Similarly, by controlling the third driving motor 205 to rotate forward or reverse, the third threaded screw rod 206 is driven to rotate forward or reverse, so that the third sliding block 207 can slide back and forth along the third threaded screw rod 206, so that the third sliding block 207 can move back and forth along the Y-axis direction of the mounting base 101, and the laser cutting head 304 can cut concrete in the Y-axis direction, and thus, by controlling the first driving motor 105, the second driving motor 109 and the third driving motor 205 to rotate according to a preset program, the laser cutting head 304 can be controlled to move according to a preset path, and the function of cutting concrete into blocks is realized. And the rotary motion of the motor is converted into linear motion in a screw rod transmission mode, so that the control precision is high, the conversion efficiency is high, the transmission process is stable, and the cutting precision can be further improved.

It should be noted that, by controlling the fourth driving motor 209 to rotate forward or reverse, the fourth driving motor 209 drives the fourth threaded screw rod 301 to rotate forward or reverse, so that the fourth sliding block 302 can slide up and down along the fourth threaded screw rod 301, so that the laser cutting head 304 can move along the Z axis direction of the mounting base 101, thereby realizing the function of adjusting the defocus amount of the laser cutting head 304 (i.e. the distance between the workpiece surface and the lower surface of the laser cutting head 304), and changing the diameter of the laser spot emitted by the laser cutting head 304, so that the device has the function of adjusting the kerf, so that the user can adjust the kerf according to the actual cutting requirement, and further the versatility of the device is improved.

As shown in fig. 1 and 2, the mounting base 101 is provided with a plurality of rows and a plurality of columns of electric telescopic rods 307, and a push plate 308 is cooperatively connected to the top of the electric telescopic rods 307.

A row of motorized telescopic rods 307 is provided between each two support beams 102, and when the motorized telescopic rods 307 are driven to extend, the push plate 308 can extend along the area between the two support beams 102.

It should be noted that, in a preferred embodiment of the present invention, the electric telescopic rods 307 are arranged in four rows and three columns.

It should be noted that, after the concrete is cut into a plurality of small blocks by the laser cutting head 304, the electric telescopic rod 307 at the preset position is controlled to extend or retract according to the preset time, so as to realize the function of assisting the blanking of the blanking module. Specifically, after cutting the concrete into several small blocks, the electric telescopic rod 307 on the first row can be controlled to extend, so that the small concrete blocks corresponding to the electric telescopic rod 307 are pushed up to a certain height by the push plate 308, so that the small concrete blocks are at different horizontal heights from the adjacent small concrete blocks, then the clamping mechanism 504 is controlled to clamp and discharge the small concrete blocks, thereby realizing the function of auxiliary discharging, and then the electric telescopic rod 307 is controlled to shrink, so that the electric telescopic rod 307 is reset. Similarly, the electric telescopic rods 307 of the first row and the second row are controlled to extend, and then the clamping mechanism 504 clamps and feeds the concrete small blocks corresponding to the electric telescopic rods 307 of the first row and the second row, so that the function of assisting in feeding is realized, and similarly, the function of automatically feeding all the concrete small blocks can be realized. It should be noted that the purpose of pushing up the concrete small block to a certain height through the electric telescopic rod 307 is to facilitate the clamping mechanism 504 to clamp the concrete small block, because after laser cutting, the adjacent concrete small blocks can be closely adjacent, if the concrete small block is directly clamped and discharged through the clamping mechanism 504 at this time, on the one hand, the clamping difficulty of the clamping mechanism 504 can be increased, and then the control difficulty is increased, so that the control program is more complex, and on the other hand, the clamping mechanism 504 can collide with the adjacent concrete small block with a high probability in the process of clamping the concrete small block, thereby causing damage to the adjacent concrete small block and further improving the rejection rate.

As shown in fig. 6 and 7, the blanking module includes a mounting block 309, a sliding rail 401 is fixedly mounted on the mounting block 309, a sliding block 402 is slidably connected on the sliding rail 401, a fifth driving motor 403 is fixedly mounted on the sliding block 402, an output end of the fifth driving motor 403 is cooperatively connected with a rotating shaft 404, a gear 405 is cooperatively connected with the rotating shaft 404, a rack 406 is fixedly mounted on the sliding rail 401, and the gear 405 and the rack 406 are meshed for transmission.

It should be noted that, by driving the fifth driving motor 403, the fifth driving motor 403 drives the rotation shaft 404 to rotate, thereby driving the gear 405 to rotate, and because the gear 405 is meshed with the rack 406 to drive, the gear 405 can move on the rack 406, thereby enabling the slide block 402 to move along the slide rail 401, thereby driving the multi-axis linkage manipulator 407 and the clamping mechanism 504 to move along the length direction of the mounting base 101, thereby enlarging the working range of the clamping mechanism 504, and further realizing the function of clamping and blanking concrete small blocks at different positions.

As shown in fig. 6, the slider 402 is provided with a multi-axis linkage manipulator 407, the multi-axis linkage manipulator 407 includes a rotating table 408, a first mechanical arm 409 is cooperatively connected to the rotating table 408, a second mechanical arm 501 is cooperatively connected to the first mechanical arm 409, a third mechanical arm 502 is cooperatively connected to the second mechanical arm 501, a universal rotator 503 is cooperatively connected to the end of the third mechanical arm 502, and a clamping mechanism 504 is cooperatively connected to the universal rotator 503.

The multi-axis linkage manipulator 407 belongs to a device commonly used in the field of automated processing, and the working principle thereof is not much described herein, so that the multi-axis linkage manipulator can realize movement with multiple degrees of freedom.

As shown in fig. 8 and 9, the clamping mechanism 504 includes a fixing plate 505, hinge bases 506 are disposed on four corners of the fixing plate 505, hinge blocks 507 are hinged on the hinge bases 506, a cross rod 508 is fixedly connected between two hinge blocks 507 on the left side and the right side of the fixing plate 505, a plurality of L-shaped clamping rods 509 are disposed on the cross rod 508 along the length direction, a first air cylinder 601 is fixedly mounted on the hinge bases 506, an output end of the first air cylinder 601 is connected with one end of a first push rod 602 in a matched mode, and the other end of the first push rod 602 is connected with the hinge blocks 507 in a matched mode.

The bottom of fixed plate 505 still is provided with two at least second cylinders 603, the output of second cylinder 603 is connected with the one end cooperation of second push rod 604, the other end cooperation of second push rod 604 is connected with pressure strip 605, be provided with pressure sensor on the pressure strip 605.

When a concrete small block needs to be clamped and discharged, the clamping mechanism 504 is driven to a preset clamping position by the multi-axis linkage manipulator 407, then the first cylinder 601 is controlled to drive the first push rod 602 to extend, so that the first push rod 602 pushes the hinged block 507 to shrink, the L-shaped clamping rod 509 is driven to shrink, so that the L-shaped clamping rod 509 supports the bottom of the concrete small block, then the second cylinder 603 is controlled to drive the second push rod 604 to extend, so that the compacting plate 605 is driven to move downwards, so that the compacting plate 605 compacts the top of the concrete small block, the clamping effect on the concrete small block is realized, and then the multi-axis linkage manipulator 407 is controlled to execute a corresponding program, so that the concrete small block is moved to a preset discharging area, and the discharging process is finished.

It should be noted that, the pressure sensor is connected with the second cylinder 603 in a communication manner, and in the process that the compacting plate 605 compacts the concrete small blocks, the pressure sensor can monitor the pressure information of the compacting plate 605 in real time, and after the pressure information reaches the preset threshold value, the pressure sensor can feed back a signal to the second cylinder 603, so as to control the second push rod 604 to stop stretching, thereby avoiding the situation that the concrete small blocks are lost due to overlarge pressure.

The processing drawing is drawn and designed by a designer, and the processing drawing contains size information, key area position information, non-key area position information, cutting path information, initial cutting parameter information and the like of a concrete cutting finished product.

It should be noted that the processing parameter information includes a cutting path, an initial cutting parameter, a size of a cut product, and a position of a stress concentrated area (a key area) and a position of a non-stress concentrated area (a non-key area) of the cut product. The key area refers to a concentrated stress area of the cut concrete block in the engineering use process, and cracks or microcracks with a certain length cannot be allowed to appear in the concentrated stress area. Conversely, the non-key area refers to a non-concentrated stress area of the cut concrete block in the process of engineering use, and a certain degree of cracks or microcracks with a certain length can be allowed to appear in the non-concentrated stress area. It should be noted that the important areas and the non-important areas are calibrated in advance by technicians. It should be noted that the initial cutting parameters are default cutting parameters initially set by the cutting module, which are obtained from a large amount of test data and are input into the control system of the cutting module by a user in advance, through which the recycled concrete without the microcrack area can be safely cut.

In the process of cutting the concrete along the cutting path by the laser cutting head, a region where the local thermal stress generated by the laser of the laser cutting head can affect the microcrack in the concrete is defined as a preset region. Therefore, the preset region can be understood as a three-dimensional region in the recycled concrete over a certain range with the cutting path (scanning path) as an axis.

It should be noted that, the characteristic information of all microcracks in the preset area, namely an X-type crack, a Y-type crack and a Z-type crack, exists in the first crack three-dimensional model; the second crack three-dimensional model has characteristic information of X-type cracks and Y-type cracks in a preset area; and the third crack three-dimensional model only has characteristic information of X-type cracks and Y-type cracks which can extend.

The first reference line is the axis of the cutting path, and the line connecting the tip positions at both ends of the micro-crack is defined as the second reference line. If the included angle between the second datum line and the first datum line of a certain microcrack in the preset area is within the range of 45-90 degrees in the horizontal direction and within the range of 45-90 degrees in the vertical direction, the microcrack is the X-shaped crack; if the included angle between the second datum line and the first datum line of a certain microcrack in the preset area is in the range of 0-45 degrees in the horizontal direction and in the range of 0-45 degrees in the vertical direction, the X-type crack is the Y-type crack; if the included angle between the second datum line and the first datum line of a certain micro-crack in the preset area is in the range of 0-45 degrees in the horizontal direction and in the range of 45-90 degrees in the vertical direction, or in the range of 45-90 degrees in the horizontal direction and in the range of 0-45 degrees in the vertical direction, the Z-shaped crack is obtained.

In recycled concrete, there are often many microcracks, which are a morphological feature specific to polymers, and which are elongated micro-grooves formed in a material at a defect or weak area, perpendicular to the main stress direction, under tensile stress. When the laser cuts concrete, after the laser moves to the area of the micro-crack, the laser generates local thermal stress, and when the local thermal stress exceeds a certain limit, micro fibers in the micro-crack body break, so that an equivalent thermal stress area in the micro-crack disappears, the crack is subjected to overspeed expansion along the tip direction of the crack under the drive of higher local thermal stress, and a macroscopic crack is formed, which is a micro-crack extension phenomenon. When the microcracks are expanded to a certain distance, the tensile stress at the microcracks is changed into asymmetric distribution, the stress area in front of the laser heat source gradually disappears, the kinetic energy of the expansion of the microcracks disappears, the microcracks stop being expanded, and the length from the initial position to the stop position of the microcracks is the expansion length of the microcracks.

It should be noted that, the crack index of the microcracks refers to a mathematical index which is constructed based on physical parameters of the material itself and can evaluate the difficulty of the microcracks in the concrete material when the same energy laser is applied to cut the concrete. Thus, the "crack index" is one of the indexes for evaluating the laser cutting workability of a concrete material. By utilizing the index, on one hand, the attribute of the cutting parameter which influences the microcrack expansion difficulty degree when the concrete is cut by laser can be evaluated; on the other hand, theoretical basis can be provided for formulating cutting parameters when cutting concrete by laser. When the crack index of a certain microcrack is larger than 1, the probability of crack extension is extremely high when the area of the microcrack is cut under the initial cutting parameters; conversely, if a crack has a crack index less than 1, the probability of the microcrack extending is not high when the crack region is cut at the initial cutting parameters. The calculation formula of the crack index of the microcrack is as follows:

Wherein K is _s A crack index representing microcracks; e' represents the elastic modulus of the recycled concrete; beta represents the energy density of the laser; alpha represents the heat conductivity coefficient of the recycled concrete; ρ represents the density of the recycled concrete; l (L) _r Representing the microcrack length; v represents the Poisson's ratio of the recycled concrete; epsilon represents the thickness of the recycled concrete; t represents a temperature gradient factor; c represents the specific heat capacity; ω represents the wave absorbing capacity factor.

It should be noted that, because microcracks often exist in the recycled concrete, and the positions of the microcracks in each recycled concrete are often disordered, if we cut the recycled concrete according to the initial cutting parameters, the microcracks existing in the concrete are greatly likely to be extended and form cracks extending into the key areas, therefore, before the recycled concrete is cut, the preset areas of the cutting paths need to be scanned and detected by an ultrasonic detector, so that the characteristic information of the microcracks on the preset areas is obtained, and then the types of the microcracks are judged; if a certain type of micro-crack is Z-shaped, after laser cutting is performed on the area of the micro-crack, even if the micro-crack is extended, the micro-crack only extends to the two side areas of the upper surface and the lower surface of the recycled concrete, the areas belong to cutting areas, and the micro-crack does not extend to important areas, so that when the micro-crack area is cut, the initial cutting parameters are still used for cutting, and therefore the micro-crack is removed from the first crack three-dimensional model, and the micro-crack area is regarded as a safe cutting area. If the type of a certain micro-crack is X-type crack or Y-type crack, calculating the crack index of the micro-crack according to a crack index calculation formula of the micro-crack, and judging whether the crack index is larger than 1. If the initial cutting parameters are not more than 1, the probability of the extension of the micro-crack is extremely low when the micro-crack is cut under the initial cutting parameters, and the micro-crack does not extend to a key area, so that the micro-crack is removed from the second crack three-dimensional model, the micro-crack area is taken as a safe cutting area, and the area is cut by using the initial cutting parameters. If the number is greater than 1, the probability of the microcrack extending is extremely high when the initial cutting parameter cuts the microcrack area, and the next determination is needed.

The calculation formula of the crack extension length is as follows:

wherein l _t Representing the extension length of the crack;

representing a microcrack extension stress threshold; t represents a temperature gradient factor; sigma represents thermal stress; s is S ₁ Representing the thermal expansion coefficient of the recycled concrete; Δt represents the temperature difference between the recycled concrete cut layer and room temperature; e' represents the elastic modulus of the recycled concrete; v represents the Poisson's ratio of the recycled concrete.

If the crack index of a certain crack is greater than 1, the probability of the occurrence of the crack extension is extremely high, and it is necessary to determine whether the crack is an X-type crack or a Y-type crack. If the crack is an X-shaped crack, after laser is cut to the area of the micro-crack according to the initial cutting parameters, the micro-crack extends along the directions of two sides perpendicular to the horizontal direction of the cutting route, and if the extension length of the micro-crack is long enough, the micro-crack extends into a key area, so that a first extension length of the micro-crack needs to be calculated according to a calculation formula of the extension length of the micro-crack, and then whether the micro-crack extends into the key area (namely a stress concentration area) is judged according to the calculated first extension length; if the micro-crack does not extend into the stress concentration area, the micro-crack area is cut according to the initial cutting parameters, even if the micro-crack extends, the micro-crack does not extend into the key area, and the micro-crack area belongs to the safe processing area, so that when the micro-crack area is cut, the initial cutting parameters are still used for cutting. On the contrary, if the first extension length of the micro-crack is calculated according to the extension length calculation formula of the micro-crack, then it is judged that the micro-crack extends to a key area when the micro-crack is cut according to the initial cutting parameter, at this time, before the micro-crack area is cut, the laser preheating head needs to be controlled to perform preset treatment on the area, and then the residual stress of the micro-crack and the transient thermal stress of the laser cutting head are reduced, so that the micro-structure of the micro-crack area is finer and more uniform, the effect of preventing the micro-crack from extending can be achieved, and therefore, after the micro-crack area is preheated, the area can still be cut according to the initial cutting parameter.

It should be noted that, if the crack index of a certain micro-crack is greater than 1 and the type of the micro-crack is a Y-type crack, it is explained that after the laser is cut into the area of the micro-crack according to the initial cutting parameter, the micro-crack will extend along the direction parallel to the horizontal direction of the cutting path, that is, the micro-crack will extend along the cutting path, and when the laser moves to the initial tip position of the micro-crack, the laser will generate transient thermal stress, so as to cause the disappearance of the equivalent internal stress area inside the micro-crack, and the micro-crack will generate the phenomenon of overspeed extension along the tail tip direction under the drive of the transient thermal stress, so as to generate the phenomenon of advanced cracking, and when the crack extends to a certain distance, the tensile stress at the crack becomes asymmetric distribution, the stress area in front of the laser heat source gradually disappears, the kinetic energy disappears, and the crack stops extending. Therefore, under the action of Y-shaped microcracks, when the concrete is cut by laser, the concrete can be cracked in advance by a certain distance, and the phenomenon is beneficial to the cutting process, so that the phenomenon can be utilized, the relative substances required to be cut by the laser can be reduced after the concrete is cracked along a cutting path, and the required energy can be reduced, therefore, the cracked length can be calculated by a crack extension length calculation formula, and then when a laser cutting head cuts the length region, the laser cutting power can be properly reduced, the laser feeding speed can be increased, the energy consumption can be reduced by utilizing the cracking phenomenon, and the processing speed can be improved.

It should be noted that if areas of the cutting path where no microcracks are present are detected by the ultrasonic detector, these areas are cut by the initial cutting parameters.

Wherein, based on the scanning path, the ultrasonic detector is controlled to scan and detect a preset area of the workpiece to be cut, specifically:

acquiring sound wave signal information fed back by a preset area of a workpiece to be cut through an ultrasonic detector;

denoising the acoustic signal information to obtain a detection result, and generating position coordinate information of each crack in a three-dimensional space based on the detection result;

and obtaining the characteristic information of each crack based on the position coordinate information of each crack in the three-dimensional space.

In addition, the control method of the device for processing the recycled concrete further comprises the following steps:

acquiring limit load values of a workpiece to be cut at different temperatures through a big data network, and establishing a database based on the limit load values of the workpiece to be cut at different temperatures;

acquiring a temperature value of a cutting area of a current workpiece to be cut and a temperature value of a processing environment, so as to calculate a real-time thermal stress value of the cutting area of the current workpiece to be cut;

Importing the temperature value of the cutting area of the current workpiece to be cut into the database to obtain a limit load value which can be born by the current workpiece to be cut;

judging whether the real-time thermal stress value is larger than a limit load value which can be born by the current cut workpiece;

if the laser power is larger than the feeding speed, the laser power and the feeding speed are reduced.

It should be noted that, the limit load values of the recycled concrete are related to the temperature, and the limit load values of different temperature fields are different, so that different limit load values of the recycled concrete at different temperatures can be obtained in a big data network, a database is built, then the temperature value of a concrete cutting area and the temperature value of a processing environment can be obtained through a temperature sensor, a thermal sensor, an infrared detector and other devices, then the real-time thermal stress value of the concrete cutting area (a calculation formula is shown as a third formula of a crack extension length calculation formula) is calculated, and the limit load value which can be born by the current concrete to be cut is obtained from the database, then whether the real-time thermal stress value is larger than the limit load value which can be born by the current concrete to be cut is judged, if so, the real-time thermal stress value is larger than the limit load value which can be born by the current concrete to be cut, at the moment, the processing area has a large probability of generating cracks is indicated, and at the moment, in order to avoid further expansion of the cracks, the laser power and the feeding speed can be properly adjusted to be reduced, so that the probability that the cracks expand to an important area is reduced.

acquiring acoustic wave information fed back by a cutting area of a cut workpiece in real time through an ultrasonic detector, and guiding the acoustic wave information into a preset three-dimensional model;

judging whether a crack of a preset type exists in a preset area in the preset three-dimensional model;

if yes, generating processing stopping information, and transmitting the processing stopping information to a control terminal;

the preset three-dimensional model is obtained by scanning and detecting by an ultrasonic detector before cutting concrete, and a concrete virtual model is established by three-dimensional modeling software, wherein the preset three-dimensional model contains characteristic information of cracks in the concrete before cutting the concrete. The preset type of cracks are cracks with the length and width depth larger than a certain threshold value, and the threshold value is set in advance by a user. The acoustic information includes the wavelength and frequency of the echo.

It should be noted that, by judging whether a preset type of crack exists in a preset area in the preset three-dimensional model, if so, the crack is expanded to a key area in the cutting process, so that the processing stopping information is sent out at the moment, and the processing of concrete which is waste even if the processing is continued can be stopped timely, so that the processing cost of the concrete is reduced.

The foregoing description of the preferred embodiments according to the present invention is provided as illustration and description, and is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims

1. The utility model provides a device that recycled concrete processing was used, includes cutting module and unloading module, its characterized in that:

2. The apparatus for processing recycled concrete according to claim 1, wherein: the electric telescopic device is characterized in that a plurality of rows of electric telescopic rods are arranged on the mounting base, and the tops of the electric telescopic rods are connected with pushing plates in a matched mode.

3. The apparatus for processing recycled concrete according to claim 2, wherein: a row of electric telescopic rods are arranged between every two supporting beams, and when the electric telescopic rods are driven to stretch, the push plate can extend out along the area between the two supporting beams.

4. The apparatus for processing recycled concrete according to claim 1, wherein: the blanking module comprises a mounting block, a sliding rail is fixedly arranged on the mounting block, a sliding block is connected onto the sliding rail in a sliding manner, a fifth driving motor is fixedly arranged on the sliding block, the output end of the fifth driving motor is connected with a rotating shaft in a matched manner, a gear is connected onto the rotating shaft in a matched manner, a rack is fixedly arranged on the sliding rail, and the gear is meshed with the rack for transmission.

5. The apparatus for processing recycled concrete according to claim 4, wherein: install multiaxis linkage manipulator on the slider, multiaxis linkage manipulator includes the rolling table, the cooperation is connected with first arm on the rolling table, the cooperation is connected with the second arm on the first arm, the cooperation is connected with the third arm on the second arm, the end cooperation of third arm is connected with universal rotor, the cooperation is connected with fixture on the universal rotor.

6. The apparatus for processing recycled concrete according to claim 5, wherein: the clamping mechanism comprises a fixed plate, hinge seats are arranged on four corners of the fixed plate, hinge blocks are hinged to the hinge seats, a cross rod is fixedly connected between the two hinge blocks on the left side and the right side of the fixed plate, a plurality of L-shaped clamping rods are arranged on the cross rod along the length direction, a first cylinder is fixedly installed on the hinge seats, the output end of the first cylinder is connected with one end of a first push rod in a matched mode, and the other end of the first push rod is connected with the hinge blocks in a matched mode.

7. The apparatus for processing recycled concrete according to claim 6, wherein: the bottom of fixed plate still is provided with two at least second cylinders, the output of second cylinder is connected with the one end cooperation of second push rod, the other end cooperation of second push rod is connected with the pinch-off blades, be provided with pressure sensor on the pinch-off blades.

8. A control method of a device for processing recycled concrete, applied to a device for processing recycled concrete according to any one of claims 1 to 7, characterized by comprising the steps of:

9. The control method of a recycled concrete processing apparatus according to claim 8, wherein the further determination of the extendable crack is specifically:

10. The control method of an apparatus for processing recycled concrete according to claim 9, further comprising the steps of: