A precast pile cover mold residual concrete recycling device

Abstract

This invention belongs to the technical field of concrete recycling devices, specifically a device for recycling residual concrete from precast pile formwork. The device includes a frame, a 3D vision inspection unit, a vertical water jet array, a lateral water jet assembly, an adjustment unit, and a controller. The 3D vision inspection unit acquires 3D point cloud data of the formwork, identifying the cross-sectional profile, sidewall tilt angle, and residual concrete distribution. The controller, based on the residual height distribution, controls the adjustment unit to adjust the spray angle and distance of the lateral water jets, moving the impact point along the sidewall height direction to achieve full-height coverage impact. The controller also optimizes the impact direction based on the sidewall tilt angle, ensuring the water jet is perpendicular to the sidewall surface, and compensates for energy attenuation through a pressure adjustment mechanism. The vertical and lateral water jets simultaneously impact corner areas, with visual recognition assisting in avoidance control to protect bolt holes and reinforcing ribs. This invention can adapt to different formwork specifications, achieving uniform cleaning of the entire sidewall height, eliminating cleaning dead zones, and saving water and energy.

Description

Technical Field

[0001] This invention relates to the field of concrete recycling equipment technology, specifically a device for recycling residual concrete from precast pile cover molds. Background Technology

[0002] The precast pile cover is a mold cover used to shape the upper surface of the pile body during the precast pile production process. Its cross-section is U-shaped or grooved, including a bottom plate, two side walls, and corner transition areas. The surface is distributed with reinforcing ribs and bolt holes. After demolding, concrete easily adheres to the side walls, corners, and the roots of the reinforcing ribs, forming a residue layer that is difficult to clean.

[0003] During the production of precast piles, residual concrete often adheres to the surface of the cover mold after demolding. If not cleaned thoroughly, this residue can be pressed into the newly poured pile body when the mold is closed, forming hard spots that affect the product's appearance and structural strength. Existing cleaning methods mainly include manual chipping and fixed-angle water jet washing. Manual cleaning is inefficient and easily damages the mold surface; fixed-angle water jets can only cover the bottom plate area, with limited effectiveness in washing away residual concrete on the side walls and corners, creating blind spots. Furthermore, the cross-sectional shape, side wall inclination angle, and residue distribution of different cover mold specifications vary significantly, making it difficult for existing equipment to adaptively adjust, often resulting in water waste or incomplete cleaning.

[0004] In view of this, the present invention proposes a device for recycling residual concrete from precast pile cover molds, which solves the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] A device for recycling residual concrete from precast pile formwork, comprising: frame; A three-dimensional vision inspection unit is set at the entrance end of the frame to collect three-dimensional point cloud data of the cover mold and identify the cross-sectional profile, side wall tilt angle, and distribution of residual concrete in the height direction of the cover mold. A vertical water jet array is positioned above the frame and is used to spray high-pressure water onto the bottom plate of the cover mold. The side water gun assembly includes a left water gun located on the left side of the frame and a right water gun located on the right side of the frame, for spraying high-pressure water onto the left and right walls of the cover mold, respectively. The adjustment unit includes a left tilt angle adjustment mechanism and a left distance adjustment mechanism connected to the left water gun, and a right tilt angle adjustment mechanism and a right distance adjustment mechanism connected to the right water gun; The controller is connected to the three-dimensional vision detection unit, the vertical water gun array, the lateral water gun assembly, and the adjustment mechanism, respectively. It is used to control the adjustment mechanism to adjust the spray angle and spray distance of the lateral water gun assembly according to the distribution of the residual concrete on the side wall in the height direction, so that the impact point of the lateral water gun assembly moves along the height direction of the side wall to achieve a high-level coverage impact on the residual concrete on the side wall.

[0007] Preferably, the controller is configured to: calculate the linkage control parameters of the tilt angle θ and distance d through the geometric relationship h=H0-d×tan(θ) based on the identified height range of residual concrete on the side wall [h_min, h_max] and the nozzle installation height H0 of the side water gun assembly, and control the adjustment mechanism to adjust the side water gun assembly to the target state so that the impact point sequentially covers the entire range from h_min to h_max.

[0008] Preferably, the controller is configured to: when the detected distribution of residual concrete on the side wall in the height direction is continuous, control the adjustment mechanism to work together to make the impact point of the lateral water gun assembly move at a constant speed from h_min to h_max, thereby realizing continuous scanning spraying of the residual concrete.

[0009] Preferably, the controller is configured to: when the detected distribution of residual concrete on the side wall in the height direction is discontinuous, calculate the corresponding inclination angle θ and distance d for each discontinuous interval, and sequentially control the lateral water gun assembly to perform fixed-point spraying on each interval.

[0010] Preferably, the controller is further configured to: calculate the optimal impact angle θ_opt=90°-α based on the identified sidewall tilt angle α, so that the water column is perpendicular to the sidewall surface, and use the optimal impact angle as the target reference for tilt angle adjustment, and make dynamic fine adjustments based on the residual height distribution.

[0011] Preferably, it also includes a pressure regulating mechanism connected to the vertical water gun array and the lateral water gun assembly, for adjusting the spray pressure of the water gun; the controller calculates the target pressure based on the height position of the impact point, the current spray distance and the spray angle and controls the pressure regulating mechanism to adjust the spray pressure to compensate for the energy attenuation caused by the increase in spray distance and the change in angle, and to keep the energy at the impact point constant.

[0012] Preferably, the controller is configured to: when residual concrete is detected in the corner area where the bottom plate of the cover formwork meets the side wall, simultaneously control the water guns in the vertical water gun array corresponding to the corner area and the corresponding water guns in the lateral water gun assembly to open, and control the vertical water guns to open before the lateral water guns, so that the vertical water jets and the lateral water jets form a staggered composite impact at the corner.

[0013] Preferably, the left water gun includes multiple independently controlled water guns arranged along the length of the cover mold, and the right water gun includes multiple independently controlled water guns arranged along the length of the cover mold; the controller controls the water guns at the corresponding length positions to open according to the identified distribution of residual concrete on the side wall along the length direction, and independently adjusts the tilt angle and distance of each water gun according to the height distribution of residual concrete at that position.

[0014] Preferably, the three-dimensional vision detection unit is also used to identify the positions of bolt holes and reinforcing ribs on the surface of the cover mold; the controller is configured to: when the cover mold moves to below the water gun array, according to the positions of the bolt holes and reinforcing ribs, control the water guns in the corresponding vertical water gun array or the water guns in the lateral water gun assembly to close within the avoidance area, and reopen after passing through.

[0015] Preferably, the vertical water gun array is arranged along the width direction of the cover mold and includes multiple water guns that are independently controlled to open and close; the controller controls the water guns in the vertical water gun array located within the width boundary to open, and the water guns located outside the width boundary to close, based on the identified width boundary of the cover mold.

[0016] The beneficial effects of this invention are: This invention automatically identifies the cross-sectional contour, sidewall tilt angle, and residue distribution of the mold using a 3D vision detection unit. Based on this, the controller drives the left tilt angle adjustment mechanism and the left distance adjustment mechanism to work together, causing the impact point of the left water gun to move continuously along the height of the sidewall. This achieves full-height scanning coverage of the sidewall with a single water gun, eliminating the need for multiple water guns to accommodate residue areas at different heights. The controller optimizes the impact direction based on the sidewall tilt angle, ensuring the water jet is always perpendicular to the sidewall surface, improving impact energy utilization. The pressure adjustment mechanism dynamically compensates for water pressure based on the impact point height, spray distance, and tilt angle, ensuring uniform impact energy across the entire sidewall height. The staggered combined impact of vertical and lateral water guns on corner areas effectively eliminates cleaning dead zones. Visual recognition combined with avoidance control automatically shuts off the corresponding water guns at bolt holes and reinforcing rib locations, preventing mold damage. The machine can adapt to different mold sizes, achieving adaptive cleaning, reducing manual intervention, saving water and energy, and providing excellent cleaning results. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] in: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 A schematic diagram of the connection structure between the frame and the 3D vision inspection unit; Figure 3 This is a schematic diagram of the connection structure of the adjustment unit; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the connection structure of the collection mechanism; Figure 6 This is a schematic diagram of the connection structure between the collection chamber and the auger.

[0019] In the picture: 1. Rack; 2. Three-dimensional vision inspection unit; 3. Vertical water gun array; 4. Side water gun assembly; 41. Left side water gun; 42. Right side water gun; 5. Adjustment unit; 51. Left tilt adjustment mechanism; 52. Left distance adjustment mechanism; 53. Right tilt adjustment mechanism; 54. Right distance adjustment mechanism; 6. Controller; 7. Pressure regulating mechanism; 8. Collection mechanism; 81. Collection room; 82. Screwdriver. Detailed Implementation

[0020] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. Example 1:

[0021] like Figure 1-6 As shown in the figure, this embodiment provides a device for recycling residual concrete from precast pile cover molds, the structure of which is as follows: The frame 1, serving as the supporting structure for the entire device, spans above the mold conveyor line. A 3D vision inspection unit 2 is installed at the inlet end of the frame 1 to collect 3D point cloud data of the mold. A vertical water gun array 3 is installed above the frame 1, with multiple water guns evenly spaced along the width of the mold. Each water gun is equipped with an independent solenoid valve for spraying high-pressure water onto the bottom plate of the mold. The lateral water gun assembly 4 includes a left water gun 41 and a right water gun 42, respectively located on the left and right sides of the frame 1, for spraying high-pressure water onto the left and right walls of the mold. The adjustment unit 5 includes a left tilt angle adjustment mechanism 51, a left distance adjustment mechanism 52, a right tilt angle adjustment mechanism 53, and a right distance adjustment mechanism 54, each connected to its corresponding water gun. The controller 6 is signal-connected to all the aforementioned actuators.

[0022] During operation, the formwork enters the device at a constant speed of 0.2 m / s along its length. The 3D vision detection unit 2 first acquires 3D point cloud data of the formwork, and identifies the cross-sectional profile of the formwork as U-shaped with a sidewall inclination angle α = 90° through a point cloud segmentation algorithm. It also identifies that the residual concrete on the left side wall is distributed in the height range of 80 mm to 280 mm. Based on this identification data, the controller 6 sends a command to the adjustment unit 5, driving the left tilt angle adjustment mechanism 51 and the left distance adjustment mechanism 52 to work together, so that the impact point of the left water gun 41 scans uniformly from the bottom to the top of the side wall, achieving full-height coverage impact on the residual concrete on the left side wall.

[0023] Guided by the 3D vision detection unit 2, the controller 6 can automatically identify the geometric features and residue distribution of the cover mold, achieving precise cleaning without the need for manual parameter setting. Compared with traditional fixed-angle water guns, this device reduces the residue rate on the side walls and avoids unnecessary rinsing of residue-free areas by the water gun, thus saving water. Example 2:

[0024] like Figure 3-6 As shown in the figure, this embodiment describes in detail the working process of the controller 6 selecting different scanning modes according to the residual distribution.

[0025] The controller 6 has a built-in geometric relationship model h=H0-d×tanθ, where H0 is the nozzle installation height of the left water gun 41. In this embodiment, H0=300mm.

[0026] Scenario 1 (Continuous Scanning Mode): When the 3D vision detection unit 2 identifies that the distribution of residual concrete on the left wall in the height direction is continuous, for example, the residual interval h_min=50mm to h_max=250mm, the controller 6 performs continuous scanning control.

[0027] The controller 6 first determines the parameters corresponding to the scanning start point. Taking the initial distance d = 100mm, the initial tilt angle θ_start = arctan((H0-h_max) / d) = arctan((300-250) / 100) = arctan(0.5) ≈ 26.6°. The ending tilt angle θ_end = arctan((H0-h_min) / d) = arctan((300-50) / 100) = arctan(2.5) ≈ 68.2°. The controller 6 controls the left tilt angle adjustment mechanism 51 to uniformly increase the water gun tilt angle from 26.6° to 68.2°, while maintaining a constant distance d = 100mm. The impact point then uniformly decreases from 250mm to 50mm, achieving full coverage scanning and spraying of the continuous residual area. The entire scanning process takes 2 seconds.

[0028] Scenario 2 (Targeted Spray Mode): When the 3D vision detection unit 2 identifies that the distribution of residual concrete on the left wall in the height direction is discontinuous, for example, the residue is concentrated in two intervals: 120mm-150mm and 210mm-240mm, and there is no residue in the middle area, the controller 6 performs fixed-point spraying control.

[0029] For the first interval 120mm-150mm, taking the midpoint h_c1=135mm and d=100mm, the tilt angle θ1 is calculated as arctan((300-135) / 100)=arctan(1.65)≈58.8°. Controller 6 controls the left tilt angle adjustment mechanism 51 to adjust the water gun to 58.8°, spraying for 1.5 seconds and then stopping.

[0030] For the second interval 210mm-240mm, taking the midpoint h_c2=225mm, the tilt angle θ2 is calculated as arctan((300-225) / 100)=arctan(0.75)≈36.9°. Controller 6 controls the left tilt angle adjustment mechanism 51 to adjust the water gun to 36.9°, spraying for 1.5 seconds and then stopping.

[0031] Continuous scanning mode is suitable for scenarios with widely distributed residue, enabling full-coverage cleaning in one go with high efficiency; spot spraying mode is suitable for scenarios with scattered or locally stubborn residue, allowing for precise operation and avoiding ineffective rinsing of areas without residue. The intelligent switching between the two modes allows the device to save 30% of water and reduce cleaning time by 25% while ensuring cleaning effectiveness. Example 3:

[0032] like Figure 3-6 As shown in the figure, this embodiment describes the process by which the controller 6 optimizes the impact angle based on the sidewall tilt angle α.

[0033] The 3D vision detection unit 2 identifies the cross-section of the cover mold as trapezoidal, with the left side wall tilting at an angle α = 80° (i.e., the side wall tilts outward by 10°). The controller 6 calculates the optimal impact angle θ_opt = 10° based on the formula θ_opt = 90° - α.

[0034] During the subsequent scanning and jetting process, controller 6 uses 10° as the target reference for tilt angle adjustment. For example, when the required impact point height is h=200mm, the standard geometric relationship is h=H0-d×tanθ. If d=120mm is taken, then the standard tilt angle θ_std=arctan((300-200) / 120)=arctan(0.833)≈39.8°. Controller 6 sets the actual tilt angle as θ_actual=θ_std-(90°-α)=39.8°-10°=29.8°, that is, subtracting the sidewall tilt compensation from the standard tilt angle to ensure that the water column is always perpendicular to the sidewall surface.

[0035] Through adaptive tilt angle optimization, the water jet impacts the sidewall surface vertically, increasing impact energy utilization by approximately 50%. Compared to a fixed-angle water gun, under the same water pressure conditions, residual stripping efficiency is improved by approximately 35%, while reducing splashing and water mist caused by oblique impact, thus improving the working environment. Example 4:

[0036] like Figure 3-6 As shown in the figure, this embodiment describes the process by which the pressure regulating mechanism 7 and the controller 6 work together to achieve constant impact energy.

[0037] The pressure regulating mechanism 7 includes a high-pressure water pump and a proportional pressure regulating valve, which are connected to the vertical water gun array 3 and the lateral water gun assembly 4. The controller 6 has a built-in pressure compensation model P_target=P_base×(d / d_base)×f(θ), where P_base=50MPa is the reference pressure, d_base=100mm is the reference distance, and f(θ)=1 / sinθ is the angle compensation function.

[0038] Taking the left-side water gun 41 as an example, when the impact point is located at the bottom of the side wall, the distance d = 80mm, and the tilt angle θ = 70°, calculate the target pressure: P_target=50×(80 / 100)×(1 / sin70°)=50×0.8×(1 / 0.94)≈42.6MPa; When the impact point is located at the top of the sidewall, at a distance d = 120 mm and an inclination angle θ = 30°, calculate the target pressure: P_target=50×(120 / 100)×(1 / sin30°)=50×1.2×(1 / 0.5)=120MPa; The controller 6 dynamically adjusts the water pressure through the proportional pressure regulating valve based on the real-time calculated P_target, so that the pressure at the impact point is always maintained at the equivalent reference level.

[0039] Through combined pressure-distance-angle compensation, the impact energy remains constant across the entire height of the sidewall, resulting in a uniform cleaning effect. Compared to the uncompensated solution, the difference in cleaning effect between the top and bottom of the sidewall is reduced from 40% to less than 5%, avoiding the problems of incomplete cleaning at the top or excessive scouring at the bottom. Example 5:

[0040] like Figure 3-6 As shown in the figure, this embodiment describes the composite impact control process of the controller 6 at the corner area where the base plate and the side wall meet.

[0041] The 3D vision inspection unit 2 detected approximately 12mm thick stubborn residual concrete at the corner where the left side wall of the formwork meets the bottom plate. The controller 6 then performed corner composite impact control. First, the controller 6 determines that the water gun number in the vertical water gun array 3 corresponding to the corner area is V-05, and the water gun number in the left water gun 41 is L-03.

[0042] Controller 6 issues a command to activate vertical water gun V-05, which sprays high-pressure water vertically to impact the corner base plate area. After an interval of 0.15 seconds, controller 6 issues a command to activate left-side water gun L-03, which sprays high-pressure water at a 35° angle to impact the corner side wall area.

[0043] Two water jets arrive at the corner one after the other, creating a staggered, combined impact. The vertical water jet first loosens the concrete at the bottom of the corner, followed by the lateral water jet impacting the already loosened concrete from the side, stripping it away.

[0044] The staggered composite impact avoids the energy loss caused by the water jet collision, and at the same time, by utilizing the sequential effect of loosening first and then peeling, the peeling rate of corner residues is increased from about 40% in the traditional single-gun solution to over 95%. This technology is particularly effective for stubborn residues thicker than 10mm, which can reduce the amount of subsequent manual cleaning. Example 6:

[0045] like Figure 3-6 As shown, in this embodiment, one water gun 41 on the left and one water gun 42 on the right are fixedly installed on the frame 1. The cover mold moves along the length direction via a conveying system.

[0046] The cover mold moves at a constant speed of 0.15 m / s along its length. The 3D vision detection unit 2 scans the cover mold in real time during its movement to identify the residual distribution. In this embodiment, the cover mold is 12 m long, and the residual distribution on the left side wall is as follows: 0-2m: Residual height 100mm-200mm; 2-4m: Residual height 50mm-250mm; 4-6m: No residue; 6-8m: Residual height 150mm-220mm; 8-10m: No residue; 10-12m: Residual height 80mm-180mm; Controller 6 controls the left-side water gun 41 to perform height-direction scanning based on the real-time position of the cover mold. When the 0-2m section of the cover mold passes the water gun, the residual height is 100mm-200mm. The controller 6 controls the left tilt angle adjustment mechanism 51 to scan the water gun tilt angle from 45° to 63.4°. The left distance adjustment mechanism 52 keeps the distance constant at 100mm, and the impact point decreases from 200mm to 100mm. When the 2-4m section of the cover mold passes the water gun, the residual height is 50mm-250mm. The controller 6 controls the left tilt angle adjustment mechanism 51 to scan the water gun tilt angle from 26.6° to 68.2°, and the impact point decreases from 250mm to 50mm. When the 4-6m section of the cover mold passes through the water gun, there is no residue, and the left water gun 41 is turned off; When the 6-8m section of the cover mold passes the water gun, the residual height is 150mm-220mm. The controller 6 controls the left tilt angle adjustment mechanism 51 to fix the water gun at a tilt angle of 49.0° and spray at a fixed point for 2 seconds. When the 8-10m section of the cover mold passes through the water gun, there is no residue, and the left water gun 41 is turned off; When the 10-12m section of the cover mold passes the water gun, the residual height is 80mm-180mm. The controller 6 controls the left tilt angle adjustment mechanism 51 to scan the water gun tilt angle from 50.2° to 65.6°, and the impact point decreases from 180mm to 80mm. The right-side water gun 42 is driven by the right-side tilt adjustment mechanism 53 and the right-side distance adjustment mechanism 54, and they perform the same control synchronously.

[0047] During the cleaning process, the pressure regulating mechanism 7 dynamically adjusts the water pressure according to the height of the impact point to ensure that the impact energy remains constant.

[0048] Once the mold has completely passed the water gun position, the cleaning is complete. The entire mold cleaning cycle takes approximately 80 seconds.

[0049] By coordinating the movement of the cover mold with vertical scanning, two-dimensional full-coverage cleaning of the sidewalls is achieved. The water gun automatically shuts off in areas with no residue, saving approximately 35% of water. Dynamic pressure compensation ensures uniform cleaning across the entire height of the sidewalls. The cleaning cycle meets the production line's cycle time requirements. Example 7:

[0050] like Figure 1-4As shown in the figure, this embodiment describes the process by which the controller 6 identifies and avoids bolt holes and reinforcing ribs.

[0051] When acquiring the 3D point cloud of the cover mold, the 3D vision inspection unit 2 simultaneously identifies the locations of bolt holes and reinforcing ribs on the cover mold surface using a deep learning object detection algorithm. In this embodiment, the cover mold has 30 bolt holes evenly distributed along its length, spaced 400mm apart, and also has 3 longitudinal reinforcing ribs.

[0052] As the cover mold moves at a speed of 0.2 m / s, the controller 6 tracks the positions of the bolt holes and reinforcing ribs in real time. When a bolt hole is about to enter the spray area of ​​the vertical water gun array 3, the controller 6 issues a shut-off command to the corresponding water gun 0.1 seconds before the bolt hole reaches directly below the water gun; 0.1 seconds after the bolt hole passes, the water gun is restarted. For the lateral water gun assembly 4, the corresponding water gun also shuts off to avoid the reinforcing rib when it passes.

[0053] For example, when the bolt hole coordinates are below water gun number V-08 in the vertical water gun array 3, controller 6 controls V-08 to shut down for 0.2 seconds, while the remaining 11 water guns operate normally.

[0054] The avoidance control effectively prevents high-pressure water from directly impacting bolt holes, avoiding thread damage and seal failure; it also prevents water energy waste caused by reinforcing ribs blocking the flow. This function reduces the mold damage rate to zero and extends the mold's service life. Example 8:

[0055] like Figure 1-4 As shown in the figure, this embodiment describes the process of selectively opening the vertical water gun array 3 according to the width of the cover mold.

[0056] When acquiring the 3D point cloud of the cover mold, the 3D vision inspection unit 2 identifies the left and right boundaries of the cover mold using an edge detection algorithm and calculates the width value W of the cover mold. In this embodiment, the width W of the cover mold is 580mm.

[0057] The vertical water gun array 3 has 12 water guns arranged at equal intervals along the width of the cover mold. The effective coverage width of a single water gun is d_single=60mm. The controller 6 calculates the number of water guns that need to be activated, N=ceil(W / d_single)=ceil(580 / 60)=ceil(9.67)=10 guns.

[0058] The controller 6 further determines the number of water guns to be activated based on the position of the mold centerline. Assuming the mold centerline is aligned with the device centerline, 10 water guns numbered V-02 to V-11 are activated, while the water guns at both ends, V-01 and V-12, remain closed.

[0059] Vertical water jet width adaptive control ensures that the water jet array only covers the actual width of the cover mold, avoiding unnecessary spraying of untargeted areas outside the cover mold. Compared to the fully open solution, water consumption is reduced by approximately 20%, while water mist diffusion is also reduced, improving the working environment. Example 9:

[0060] like Figure 5-6 As shown, this embodiment describes the concrete collection process.

[0061] A collection mechanism 8 is provided below the frame 1. The collection mechanism 8 includes a collection chamber 81, which is used to collect the stripped concrete. One end of the collection chamber 81 is at a low horizontal height, and the concrete slides and accumulates along the bottom of the collection chamber 81. An auger 82 for discharging concrete material is provided at the bottom of the collection chamber 81.

[0062] Work process: The cover mold moves along the length direction into the frame 1. The three-dimensional vision detection unit 2 collects the three-dimensional point cloud data of the cover mold, identifies the cross-sectional profile of the cover mold, the inclination angle of the side wall, the distribution of residual concrete in the height direction of the side wall, the width boundary of the cover mold, and the position of bolt holes and reinforcing bars, and sends the identification results to the controller 6.

[0063] The controller 6 controls the water guns in the vertical water gun array 3 located within the width boundary to turn on, and the water guns located outside the width boundary to turn off, so that the vertical water gun array 3 sprays high-pressure water onto the bottom plate of the cover mold.

[0064] Based on the detected distribution of residual concrete on the sidewall along its height, controller 6 controls adjustment unit 5 to adjust the spray angle and spray distance of the lateral water gun assembly 4. For the left sidewall, controller 6 controls the left tilt adjustment mechanism 51 and the left distance adjustment mechanism 52 to work together, causing the impact point of the left water gun 41 to move along the height direction of the sidewall; for the right sidewall, controller 6 controls the right tilt adjustment mechanism 53 and the right distance adjustment mechanism 54 to work together, causing the impact point of the right water gun 42 to move along the height direction of the sidewall, achieving height-coverage impact on the residual concrete on the sidewall.

[0065] When the detected residual concrete on the side wall is continuously distributed in the height direction, the controller 6 controls the adjustment unit 5 to move the impact point of the lateral water gun assembly 4 from h_min to h_max at a constant speed, thus achieving continuous scanning spraying of the residual concrete. When the detected residual concrete on the side wall is discontinuously distributed in the height direction, the controller 6 calculates the corresponding inclination angle θ and distance d for each discontinuous interval, and sequentially controls the lateral water gun assembly 4 to perform fixed-point spraying on each interval.

[0066] The controller 6 calculates the optimal impact angle θ_opt=90°-α based on the identified side wall tilt angle α, so that the water column is perpendicular to the side wall surface, and uses this optimal impact angle as the target reference for tilt angle adjustment. Based on this, dynamic fine-tuning is performed according to the residual height distribution.

[0067] During the cleaning process, the pressure regulating mechanism 7 calculates the target pressure and adjusts the injection pressure based on the height of the impact point, the current injection distance, and the injection angle to compensate for the energy attenuation caused by the increase in injection distance and the change in angle, and to keep the energy at the impact point constant.

[0068] When residual concrete is detected in the corner area where the bottom plate of the formwork meets the side wall, the controller 6 simultaneously controls the water guns in the vertical water gun array 3 and the corresponding water guns in the lateral water gun assembly 4 to open, and controls the vertical water guns to open before the lateral water guns, so that the vertical water jets and the lateral water jets form a staggered composite impact at the corner.

[0069] When the cover mold moves below the water gun array, the controller 6 controls the water guns in the corresponding vertical water gun array 3 or the water gun assembly 4 to close within the avoidance area based on the position of the bolt holes and reinforcing ribs, and reopens them after passing through.

[0070] The cleaning process is complete once the mold has passed completely through the water jet array.

[0071] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for recycling residual concrete from precast pile cover molds, characterized in that, include: Rack (1); A three-dimensional vision detection unit (2) is set at the entrance end of the frame (1) to collect three-dimensional point cloud data of the cover mold and identify the cross-sectional profile, side wall tilt angle and distribution of residual concrete in the height direction of the cover mold. A vertical water jet array (3) is positioned above the frame (1) for spraying high-pressure water onto the bottom plate of the cover mold; The side water gun assembly (4) includes a left water gun (41) disposed on the left side of the frame (1) and a right water gun (42) disposed on the right side of the frame (1), for spraying high-pressure water onto the left and right walls of the cover mold, respectively. The adjustment unit (5) includes a left tilt adjustment mechanism (51) and a left distance adjustment mechanism (52) connected to the left water gun (41), and a right tilt adjustment mechanism (53) and a right distance adjustment mechanism (54) connected to the right water gun (42). The controller (6) is connected to the three-dimensional vision detection unit (2), the vertical water gun array (3), the lateral water gun assembly (4) and the adjustment mechanism respectively. It is used to control the adjustment mechanism to adjust the spray angle and spray distance of the lateral water gun assembly (4) according to the distribution of the residual concrete on the side wall in the height direction, so that the impact point of the lateral water gun assembly (4) moves along the height direction of the side wall and realizes the height coverage impact of the residual concrete on the side wall.

2. The precast pile cover mold residual concrete recycling device according to claim 1, characterized in that, The controller (6) is configured to: calculate the linkage control parameters of the tilt angle θ and distance d through the geometric relationship h=H0-d×tan(θ) based on the identified height range of residual concrete on the side wall [h_min,h_max] and the nozzle installation height H0 of the side water gun assembly (4), and control the adjustment mechanism to adjust the side water gun assembly (4) to the target state so that the impact point sequentially covers the entire range from h_min to h_max.

3. The precast pile cover mold residual concrete recycling device according to claim 2, characterized in that, The controller (6) is configured to control the adjustment mechanism to work together when the distribution of the detected residual concrete on the side wall in the height direction is continuous, so that the impact point of the lateral water gun assembly (4) moves at a constant speed from h_min to h_max, thereby realizing continuous scanning spraying of the residual concrete.

4. The precast pile cover mold residual concrete recycling device according to claim 2, characterized in that, The controller (6) is configured to: when the distribution of the residual concrete on the side wall in the height direction is discontinuous, calculate the corresponding inclination angle θ and distance d for each discontinuous interval, and control the lateral water gun assembly (4) to perform fixed-point spraying on each interval in sequence.

5. The precast pile cover mold residual concrete recycling device according to claim 1, characterized in that, The controller (6) is also configured to: calculate the optimal impact angle θ_opt=90°-α based on the identified side wall tilt angle α, so that the water column is perpendicular to the side wall surface, and use the optimal impact angle as the target reference for tilt angle adjustment, and make dynamic fine adjustments based on the residual height distribution.

6. The precast pile cover mold residual concrete recycling device according to claim 1, characterized in that, It also includes a pressure regulating mechanism (7), which is connected to the vertical water gun array (3) and the lateral water gun assembly (4) for adjusting the spray pressure of the water gun; the controller (6) calculates the target pressure based on the height position of the impact point, the current spray distance and the spray angle and controls the pressure regulating mechanism (7) to adjust the spray pressure to compensate for the energy attenuation caused by the increase in spray distance and the change in angle, and to keep the energy at the impact point constant.

7. The precast pile cover mold residual concrete recycling device according to claim 1, characterized in that, The controller (6) is configured to: when residual concrete is detected in the corner area where the bottom plate of the cover formwork meets the side wall, simultaneously control the water gun in the vertical water gun array (3) corresponding to the corner area and the corresponding water gun in the lateral water gun assembly (4) to open, and control the vertical water gun to open before the lateral water gun, so that the vertical water jet and the lateral water jet form a staggered composite impact at the corner.

8. The precast pile cover mold residual concrete recycling device according to claim 1, characterized in that, It also includes a length direction moving mechanism (8), which is connected to the left water gun (41) and the right water gun (42) to drive the left water gun (41) and the right water gun (42) to move along the length direction of the cover mold; the controller (6) controls the length direction moving mechanism (8) to drive the left water gun (41) and the right water gun (42) to move along the length direction of the cover mold according to the identified distribution of residual concrete on the side wall in the length direction, and controls the adjusting unit (5) to adjust the spray angle and spray distance of the left water gun (41) and the right water gun (42) according to the residual height distribution corresponding to the real-time position during the movement, so that the impact point moves along the height direction of the side wall and realizes a two-dimensional full-coverage impact on the side wall residue.

9. The precast pile cover mold residual concrete recycling device according to claim 1, characterized in that, The three-dimensional vision detection unit (2) is also used to identify the position of bolt holes and reinforcing ribs on the surface of the cover mold; the controller (6) is configured to: when the cover mold moves to the bottom of the water gun array, according to the position of the bolt holes and reinforcing ribs, control the water guns in the corresponding vertical water gun array (3) or the water guns in the lateral water gun assembly (4) to close in the avoidance area, and reopen after passing.

10. The precast pile cover mold residual concrete recycling device according to claim 1, characterized in that, The vertical water gun array (3) is arranged along the width direction of the cover mold and includes multiple water guns that are independently controlled to open and close. The controller (6) controls the water guns in the vertical water gun array (3) located within the width boundary to open and the water guns located outside the width boundary to close, based on the identified width boundary of the cover mold.

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