Pile head steel bar straightening and intelligent welding extension device and method

Abstract

The application discloses a pile head steel bar straightening and intelligent welding and lengthening device and method, which comprises a main body part, a straightening part, a cleaning part and an electric-shock pressure welding part.

Description

Technical Field

[0001] This invention relates to the technical field of building engineering, specifically to a device for straightening and intelligently welding extension of pile head reinforcing bars, and also to a method for straightening and intelligently welding extension of pile head reinforcing bars. Background Technology

[0002] In existing pile head construction, due to improper operation or other reasons, the reinforcing bars may have problems such as bending or twisting, and need to be straightened. Straightening the reinforcing bars can ensure the overall stability and bearing capacity of the pile. After the straightening work is completed, the reinforcing bars usually need to be extended. At the extension connection of the pile head, in order to improve the overall stress capacity and bearing capacity of the pile, electroslag pressure welding is often used to connect the reinforcing bars.

[0003] Existing methods for straightening rebar mostly involve two workers using wrenches. One worker holds the lower end of the rebar in place, while the other straightens the bent portion at the upper end. During the straightening process, workers need to observe the bending of the rebar from multiple angles in real time to ensure the quality of straightening. This method is highly dependent on the worker's skill, and it requires two workers to straighten a single rebar, resulting in low efficiency and difficulty in guaranteeing construction quality. On the other hand, electroslag pressure welding for rebar extension involves a single worker working on a single rebar. This requires the use of many tools, such as welding clamps, flux boxes, electroslag feeders, and electroslag pressure welding machines. It demands a high level of worker skill, and the switching between various mechanisms is cumbersome, resulting in low efficiency.

[0004] Therefore, there is a need for a device and method for straightening and intelligently welding extension of pile head reinforcing bars that can quickly straighten multiple pile head reinforcing bars and monitor the straightening effect in real time. It should also have the functions of efficiently cleaning reinforcing bars and assisting in the electroslag pressure welding of reinforcing bars extension. Summary of the Invention

[0005] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a pile head rebar straightening and intelligent welding extension device, which can realize the mechanization and automation of rebar extension construction, greatly improve construction efficiency and save labor costs, significantly reduce the time required for rebar straightening, improve efficiency and straightening quality, and clean the rebar to provide good construction conditions for the subsequent rebar extension electroslag pressure welding process.

[0006] Another objective of this invention is to provide a method for straightening and intelligently welding extension of pile head reinforcing bars, which together completes the processes of reinforcing bar alignment, clamping, flux box fixing, material filling, electric welding arc ignition, pressure application, and waste material recycling by the receiving plate. The processes are closely coordinated and highly integrated, which greatly improves construction efficiency and saves time and costs. Furthermore, the degree of mechanization is high, and the construction quality is well guaranteed.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] The present invention relates to a rebar straightening and intelligent welding extension device for pile heads, comprising: a main body, including a main body and a rebar storage box installed on the main body; a straightening section, consisting of four first columns installed at the left rear end of the main body, the upper end of each first column having a first crossbar extending to the outside of the main body, and a plurality of straightening units mounted on a first straightening track on the lower surface of the first crossbar via an electric trolley for straightening the rebar; a cleaning section, installed in front of the straightening section in a rear-to-forward direction, comprising a cleaning unit for friction cleaning of the rebar head; and an electroslag pressure welding section, installed in front of the cleaning section in a rear-to-forward direction, consisting of a plurality of second columns. The main body has two horizontally extending second crossbars near the upper and lower ends of the second column, each with an electroslag pressure welding first track on its outer surface. Two sets of electroslag pressure welding mechanisms are connected between the two first tracks via an electric trolley. Each set of electroslag pressure welding mechanisms is equipped with a clamping and pressure-applying unit and a welding filler unit. The clamping and pressure-applying unit applies pressure to align the upper and lower reinforcing bars, while the welding filler unit surrounds the aligned area of ​​the upper and lower reinforcing bars with electroslag to complete the electroslag pressure welding. A reinforcing bar feeding section is installed in front of the electroslag pressure welding section from back to front, used to feed the reinforcing bars from the reinforcing bar storage box into the electroslag pressure welding section.

[0009] Preferably, the rebar storage box has a sloping bottom plate inside. A rectangular opening is located at the bottom of the sloping bottom plate near the left side of the storage box. A rebar discharge port extending to the perimeter of the storage box is located outside this rectangular opening. An electric rebar output push rod facing the rebar discharge port is located on the outer surface of the rebar storage box above the rectangular opening. The output end of the electric rebar output push rod is connected to a rectangular baffle, the width of which matches the rectangular opening below. A rebar transfer track is located near the rebar discharge port. One end of the rebar transfer track is parallel to the direction of the rebar discharge port, and the other end extends horizontally from near the end of the rebar discharge port to between the electroslag pressure welding section and the rebar feeding section. The rebar transfer mechanism takes rebar from both ends of the rebar discharge port and controls the rebar to rotate to a vertical position, then transfers it between the electroslag pressure welding section and the rebar feeding section for processing.

[0010] Furthermore, the rebar transfer mechanism is composed of, from bottom to top, a rebar transfer electric trolley, a rebar transfer first electric push rod, a rebar transfer first rotary motor, a rebar transfer second electric push rod, a rebar transfer second rotary motor, a rebar transfer third electric push rod, and a rebar transfer electric gripper connected together. The rebar transfer first electric push rod, the rebar transfer first rotary motor, and the rebar transfer third electric push rod are all vertically oriented, while the rebar transfer second electric push rod and the rebar transfer second rotary motor are horizontally oriented.

[0011] Furthermore, a monitoring matrix mounting plate is installed on the upper surface of the two first horizontal bars near the outermost position. It covers a rectangular area outside the entire main body, which is the main area for rebar straightening construction. The bottom surface of the monitoring matrix mounting plate is equipped with a downward-facing laser rangefinder matrix. The surface flatness of the pile head rebar within the rectangular area is obtained by laser ranging. The shape of the rebar projection is monitored in the vertical direction to determine the degree of bending of the rebar. Then, in conjunction with the straightening unit below, the rebar is straightened in real time.

[0012] Preferably, the straightening unit consists of a base formed by a straightening second track mounting plate installed on an electric trolley. The lower surface of the straightening second track mounting plate is provided with a horizontal straightening second track. Two straightening mechanisms are installed on the straightening second track via the electric trolley. Each straightening mechanism is composed of a straightening first electric push rod mounting seat, a straightening first electric push rod, a straightening rotary motor, a straightening second electric push rod, and a straightening electric gripper connected from top to bottom. The straightening second electric push rod is horizontal. The cleaning unit is composed of a cleaning electric push rod mounting seat, a cleaning electric push rod, a cleaning rotary motor, and an annular steel wire ring connected from top to bottom. All mechanisms on it are vertical.

[0013] Furthermore, each electroslag pressure welding mechanism consists of a vertical electroslag pressure welding second track mounting plate as its main body, which extends upwards by a certain distance. The electroslag pressure welding second track is mounted on the mounting plate, and an execution unit mounting seat is connected to the second track via an electric trolley. The clamping pressure unit and the welding filler unit are respectively mounted on two execution unit mounting seats. A waste electroslag recycling box and an electroslag storage box are located on the main body near the rear of the second column. The waste electroslag recycling box is directly connected to the surface of the main body, and the electroslag storage box is fixed to the main body at a certain height via an electroslag storage box support. Both storage boxes are open at the top, and an electric valve is also provided on one side of the bottom of each electroslag storage box.

[0014] Preferably, the clamping and pressure-applying unit consists of a clamping mechanism mounting base mounted on the execution unit mounting base. From bottom to top, the upper surface of the clamping mechanism mounting base is sequentially connected to a clamping mechanism fixed base, an upper clamping head sliding screw, a clamping mechanism fixed top seat, and a lifting and pressure-applying electric push rod. The output shaft of the lifting and pressure-applying electric push rod passes through the clamping mechanism fixed top seat and is fixedly connected to a hook-shaped clamping head mounted on the upper clamping head sliding screw. One end of the hook-shaped clamping head is a rectangular slider, which is connected to the upper clamping head sliding screw via a linear ball bearing and can be pushed onto the upper clamping head by the lifting and pressure-applying electric push rod. The head slides up and down on the lead screw, and its other end is a hook-shaped structure. Its shape matches the shape of the steel bar, so that one end of the steel bar contacts its hook surface, and the other end is fixed by the pressure of the clamping member at the output end of the clamping electric push rod. The rectangular slider end of the hook-shaped clamping head is provided with a clamping electric push rod facing the hook structure on the outer surface near the hook-shaped structure end. Its output end is connected to a clamping member that matches the shape of the steel bar. At the same horizontal position at the bottom of the clamping mechanism mounting base, there is also a hook-shaped clamping head, which is also provided with a clamping electric push rod, so that the hook-shaped clamping head at the lower end fixes the steel bar below.

[0015] Furthermore, the welding filler unit has a welding auxiliary mechanism near the upper region. This mechanism, from left to right, consists of a welding electric push rod, a welding rotary motor, and a welding clamp connected to an electroslag pressure welding machine. The welding clamp faces the direction of the rebar construction and is aligned with the receiving electric push rod below. The welding filler unit has a loading mechanism mounting base near the lower region. The front surface of the loading mechanism mounting base has two loading tracks, one upper and one lower. The upper surface of the loading mechanism mounting base has a longitudinal feeding mechanism mounting base in the center, and the right surface of the feeding mechanism mounting base has a feeding track. Two flux box electric push rods are connected to the upper loading track via an electric trolley. The output end of each flux box electric push rod is connected to a flux box clamping seat. The flux box clamping seats are two units located at both ends of the flux box. The extension base and flux box are automatically closed and secured to the reinforcing bars via a mechanical structure, or opened and detached from the reinforcing bars. Below, an electric trolley connects to a receiving electric push rod, a receiving rotary motor, and a receiving plate. The receiving plate is a rectangular base plate with baffles around its perimeter, and a rectangular opening extends outward from the center. The end of this rectangular opening is a circular opening with a diameter matching the reinforcing bar. During electroslag pressure welding, the reinforcing bar passes through the rectangular opening and rests against the circular opening. After welding is completed and the flux box is opened, the waste electroslag falls and is directly caught by the receiving plate. An electric trolley connects to a feeding rotary motor on the feeding track. The output of the feeding rotary motor is connected to a feeding box aligned with the flux box. This feeding box is bucket-shaped and has a baffle at its end to prevent electroslag leakage during tilting.

[0016] Preferably, the rebar feeding section is arranged opposite to the electroslag pressure welding section, and includes a rebar feeding electric push rod and a rebar feeding electric gripper connected to its output end, which picks up the rebar on the rebar transfer mechanism and adjusts its height to send it to the electroslag pressure welding section.

[0017] Accordingly, the present invention also provides a method for straightening and intelligently welding extension of pile head reinforcement bars, the steps of which are as follows:

[0018] S1. Initial Transfer of Rebar: When initial transfer of rebar is required, a sufficient quantity of rebar of suitable specifications is pre-stored in the rebar storage box. When the robot approaches the construction site, the rebar output electric push rod is controlled to retract the rectangular baffle at its output end, allowing individual rebars to slide down the sloping bottom plate of the rebar storage box into the rebar discharge port. Simultaneously, the rebar output electric push rod is pushed out to block the rectangular opening and prevent excess rebar from sliding out. Subsequently, the rebar transfer electric trolley of the rebar transfer mechanism is controlled to move to the leftmost or rightmost end of the rebar discharge port, coordinating the extension of the first and second electric push rods of the rebar transfer mechanism to activate the third electric push rod of the rebar transfer mechanism. With the electric gripper of the rebar transfer positioned above the end of the rebar, the first electric push rod of the rebar transfer is retracted and the third electric push rod of the rebar transfer is extended, so that the electric gripper of the rebar transfer approaches the rebar. Simultaneously, the electric gripper of the rebar transfer clamps the end of the rebar. The above mechanisms are then retracted in the opposite manner, and the first and second rotary motors of the rebar transfer are activated at the same time, so that the rebar originally oriented horizontally is adjusted to a suitable horizontal position and rotated from horizontal to vertical, which facilitates transportation and subsequent clamping. At this time, the single rebar is clamped and the rebar transfer mechanism is moved to the track between the electroslag pressure welding part and the rebar feeding part to wait for retrieval.

[0019] S2. Rebar Straightening: When the pile head rebar straightening process is required, the robot is started to move until the monitoring matrix mounting plate covers the pile head rebar area. At this time, the straightening units on the first straightening track are first controlled to move out of the monitoring matrix area. The laser rangefinder matrix is ​​then activated to perform the first distance measurement on the pile head rebar, obtaining the projection of each rebar and thus knowing the degree of bending of each rebar. Then, the straightening units are controlled to move above the rebar that needs to be straightened. Based on the actual degree of bending, multiple sets of straightening units can simultaneously straighten one rebar. Alternatively, multiple sets of straightening units can be used. Multiple sets of reinforcing bars are straightened simultaneously. At this time, the first electric straightening push rod lowers the straightening rotary motor below it, coordinating with the activation of the straightening rotary motor, the second electric straightening push rod, and the electric straightening gripper to clamp the reinforcing bar to be straightened. Multiple straightening mechanisms clamp the reinforcing bars at different heights, and each second electric straightening push rod is pushed out according to the degree of bending, thus straightening the reinforcing bar. During the straightening process, the degree of bending of the reinforcing bar can be monitored in real time by a laser rangefinder matrix. After all reinforcing bars have been straightened, each straightening unit is retracted into the main body, and preparations are made for the reinforcing bar head cleaning process.

[0020] S3. Rebar Head Cleaning: When the rebar head cleaning process is required, control the robot to move so that the monitoring matrix area of ​​the cleaning part moves to cover the rebar area of ​​the pile head. Activate the laser rangefinder matrix below to obtain the position of each rebar on the pile head. Control each group of cleaning units and cleaning mechanisms to move to the appropriate position so that there is a cleaning mechanism above each rebar. At this time, push down the cleaning rotary motor and the annular steel wire ring through the cleaning electric push rod so that the rebar head is inserted into the hollow area in the middle of the annular steel wire ring, and the outer periphery of the rebar head is in contact with the annular steel wire ring. Activate the cleaning rotary motor, and its output shaft rotates to drive the annular steel wire ring to rotate, thereby allowing the annular steel wire ring to rub and clean the rebar head to remove debris. After cleaning is completed, control each cleaning unit to return to the inside of the main body to prepare for the electroslag pressure welding process.

[0021] S4. Electroslag Pressure Welding: When electroslag pressure welding is required, first move the robot until the electroslag pressure welding section and the rebar feeding section cover the pile head rebar area outside the main body's extended area. At this time, control the rebar feeding mechanism of the rebar feeding section to move to the vicinity of the end of the rebar transfer track. By controlling the electric rebar feeding jaws, electric rebar feeding push rods, and rebar transfer mechanism that clamps the rebar, the rebar is clamped by the rebar feeding mechanism, and the height of the rebar is adjusted by the track. After reaching the appropriate height, the electric rebar feeding push rod is pushed out, moving the rebar to the clamping area of ​​the hook-shaped clamping head on the clamping and pressure unit. Inside, the electric actuator on the drive mechanism extends its end clamping component to clamp the upper rebar, retracts the rebar feeding mechanism, and prepares for electroslag pressure welding. At this time, the clamping and pressure-applying unit, carrying the upper rebar, is moved above the rebar to be constructed via the first electroslag pressure welding track. The clamping and pressure-applying unit is then lowered via the second electroslag pressure welding track until the hook-shaped clamping head covers the pile head rebar. The electric actuator on the hook-shaped clamping head is then extended, and its clamping component, in conjunction with the hook-shaped clamping head, secures the lower rebar. At this point, the upper and lower rebars are aligned. The lifting and lowering electric actuator is then controlled to descend. The hook-shaped clamping head at the top and bottom allows the upper and lower reinforcing bars to contact each other. At this point, the welding filler unit is moved to the vicinity of the reinforcing bar and positioned appropriately on the second electroslag pressure welding track, aligning the height of the flux box with the joint of the reinforcing bar. Then, through the coordinated action of two sets of electric trolleys on the upper loading track and the electric push rod of the flux box, the flux box is pushed out and fixed in place at the joint of the reinforcing bar. At this point, flux can be added to the box. The electric trolley on the loading track carries the loading box to the top of the flux box, and the loading rotation motor controls the tilt angle of the loading box to fill the flux box. After material is added, the welding clamp is rotated and pushed out by the welding electric push rod and welding rotary motor, so that it hangs above the rebar. At the same time, the receiving electric push rod is controlled to push out the receiving plate and insert it into the rebar. The electroslag pressure welding machine is started, and the hook-shaped clamping head above is pushed down by the lifting and pressure applying electric push rod to perform pressure welding. After completion, the flux box and the above mechanisms are opened and retracted, and the waste material falls into the receiving plate. When the welding filler unit moves back to the top of the waste electroslag recycling box, the receiving rotary motor is started to rotate the receiving plate, and the waste material falls into the waste electroslag recycling box for recycling. At this point, the entire extended electroslag pressure welding process is completed.

[0022] Based on the above, the beneficial effects of the pile head reinforcement straightening and intelligent welding extension device and method of the present invention are as follows:

[0023] 1. Compared to existing technologies, steel bars are usually piled up at the construction site. When workers perform electroslag pressure welding on steel bars, they often need to repeatedly retrieve the steel bars, which is inconvenient. Moreover, the heavy steel bars are difficult to align during subsequent construction, causing certain quality problems. However, this invention uses a steel bar storage box to pre-store a sufficient amount of steel bars of suitable specifications on the robot. When construction is needed, the robot only needs to be driven to the vicinity of the construction site to retrieve the steel bars as needed. The steel bar discharge port on the steel bar storage box of this invention, together with the steel bar output electric push rod and steel bar transfer mechanism, enables the mechanized automatic retrieval of steel bars and quickly changes the orientation from horizontal to vertical, which facilitates subsequent clamping and alignment, greatly improving the efficiency of steel bar retrieval and saving time.

[0024] 2. Compared to existing technologies, where two workers use wrenches to straighten a single rebar, requiring constant monitoring of the rebar's angle, this method is technically demanding, time-consuming, and physically demanding, posing significant health risks to workers over extended periods. This invention, however, utilizes a specially designed straightening section that covers all rebar areas at the pile head. A laser rangefinder matrix monitors the rebar's bending degree in real time. Combined with the first straightening track and its various straightening units, the rebar is straightened individually or simultaneously. The entire process is highly mechanized. Furthermore, the multiple straightening units, each with two opposing straightening mechanisms, work together to effectively handle rebar bending at various angles. The robot is highly adaptable and efficient, and real-time monitoring of the rebar's bending degree ensures high-quality straightening.

[0025] 3. Compared to existing technologies where workers use steel wool to clean each pile head rebar individually, which is inefficient and time-consuming, this invention pre-aligns the pile head rebars, ensuring precise horizontal positioning of each rebar. This allows each cleaning mechanism to be aligned with each rebar. The electric cleaning push rod lowers the annular steel wire ring, bringing it into contact with the rebar head. Finally, a cleaning rotary motor rotates the annular steel wire ring for rapid cleaning, significantly improving cleaning efficiency. Furthermore, the simultaneous cleaning by multiple mechanisms effectively saves time and improves cleaning quality.

[0026] 4. Compared to existing manual construction methods where workers use welding clamps, flux boxes, and electroslag hoppers sequentially, while simultaneously aligning the upper and lower reinforcing bars and applying pressure, this invention addresses the challenges of inconsistent welding quality and low efficiency. The electroslag pressure welding component, designed to work with the bar feeding and transfer mechanisms, automatically transfers and retrieves the reinforcing bars. The clamping and pressure application unit and the welding filler unit work in close coordination to sequentially complete the clamping, alignment, butt jointing, flux box loading, electroslag filling, pressure welding, and waste recycling processes for extended electroslag pressure welding of the reinforcing bars. This highly mechanized and streamlined process allows for sequential processing of reinforcing bars on the same pile head, significantly improving efficiency, saving tool switching time, and ensuring high-quality electroslag pressure welding without relying on individual workers' experience. Furthermore, the extensive recycling of waste welding materials protects the environment and reduces construction costs. Attached Figure Description

[0027] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0028] Figure 1 This is a schematic diagram of the overall structure of the pile head reinforcement straightening and intelligent welding extension device of the present invention.

[0029] Figure 2 This is a schematic diagram of the main body of the present invention;

[0030] Figure 3 This is a schematic diagram of the steel bar transfer mechanism of the present invention;

[0031] Figure 4 This is a schematic diagram of the straightening part of the present invention;

[0032] Figure 5 This is a schematic diagram of the straightening unit of the present invention;

[0033] Figure 6 This is a schematic diagram of the cleaning part of the present invention;

[0034] Figure 7 This is a schematic diagram of the electroslag pressure welding part of the present invention;

[0035] Figure 8 This is a schematic diagram of the clamping and pressure-applying unit of the present invention;

[0036] Figure 9 This is a schematic diagram of the welding filler unit of the present invention;

[0037] Figure 10 This is a schematic diagram of the reinforcing bar feeding part of the present invention.

[0038] Explanation of reference numerals in the attached figures:

[0039] 1000-Main Body Section:

[0040] 1001-Main body; 1002-Roller; 1003-Rebar storage box; 1003a-Rebar discharge port; 1003b-Rebar output electric push rod; 1004-Rebar; 1005-Rebar transfer track; 1006-Rebar transfer mechanism; 1006a-Rebar transfer electric trolley; 1006b-Rebar transfer first electric push rod; 1006c-Rebar transfer first rotary motor; 1006d-Rebar transfer second electric push rod; 1006e-Rebar transfer second rotary motor; 1006f-Rebar transfer third electric push rod; 1006g-Rebar transfer electric gripper;

[0041] 2000-Straightening section:

[0042] 2001 - First column; 2002 - First crossbar; 2003 - Straighten the first track; 2004 - Monitoring matrix mounting plate; 2005 - Laser rangefinder matrix;

[0043] 2100 - Straightening unit; 2101 - Straightening second track mounting plate; 2102 - Straightening second track; 2103a - Straightening first electric push rod mounting base; 2103b - Straightening first electric push rod; 2103c - Straightening rotary motor; 2103d - Straightening second electric push rod; 2103e - Straightening electric gripper;

[0044] 3000 - Cleaning Section:

[0045] 3001a - Cleaning electric actuator mounting base; 3001b - Cleaning electric actuator; 3001c - Cleaning rotary motor; 3001d - Annular steel wire ring;

[0046] 4000-Electroslag Pressure Welding Section:

[0047] 4001-Electroslag storage box support base; 4002-Electroslag storage box; 4002a-Electric valve; 4003-Waste electroslag recycling box; 4004-Second column; 4005-Second crossbar; 4006-Electroslag pressure welding first track; 4007a-Electroslag pressure welding second track mounting plate; 4007b-Electroslag pressure welding second track; 4007c-Actuator unit mounting base;

[0048] 4100-Clamping and pressure-applying unit; 4101-Clamping mechanism mounting base; 4102a-Clamping mechanism fixed base; 4102b-Upper clamping head sliding screw; 4102c-Clamping mechanism fixed top seat; 4102d-Lifting and pressure-applying electric push rod; 4103-Hook-type clamping head; 4104-Clamping electric push rod;

[0049] 4200 - Welding filler unit; 4201a - Welding electric push rod; 4201b - Welding rotary motor; 4201c - Welding clamp; 4202 - Loading mechanism mounting base; 4202a - Loading track; 4203 - Feeding mechanism mounting base; 4203a - Feeding track; 4204a - Flux box electric push rod; 4204b - Flux box clamping base; 4204c - Flux box; 4205a - Receiving electric push rod; 4205b - Receiving rotary motor; 4205c - Receiving plate; 4206a - Feeding rotary motor; 4206b - Feeding box;

[0050] 5000 - Reinforcing bar section:

[0051] 5001 - Electric push rod for feeding reinforcing bars; 5002 - Electric gripper for feeding reinforcing bars. Detailed Implementation

[0052] To facilitate understanding and implementation of the present invention by those skilled in the art, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0053] Below, in conjunction with Figures 1 to 10 This invention provides a detailed description of the pile head rebar straightening and intelligent welding extension device and method.

[0054] Depend on Figure 1 As shown, the pile head rebar straightening and intelligent welding extension device of the present invention includes a main body 1000 as the main body, and a straightening part 2000, a cleaning part 3000, an electroslag pressure welding part 4000, and a rebar feeding part 5000 installed thereon from back to front.

[0055] Depend on Figure 2-3As shown, the main body 1000 consists of a main body 1001, which has several rollers 1002 around its perimeter for moving on the construction site. A longitudinal rebar storage box 1003 is located near the right end of the upper surface of the main body 1001. The rebar storage box 1003 has a sloping bottom plate inside, with a rectangular opening at the bottom near the left side of the storage box. A rebar discharge port 1003a extends from the outside of this rectangular opening to the perimeter of the storage box. Simultaneously, a rebar output electric push rod 1003b is located on the outer surface of the rebar storage box 1003 above the rectangular opening, facing the rebar discharge port 1003a. The output end of the rebar output electric push rod 1003b is connected to a rectangular baffle, the width of which matches the rectangular opening below. This baffle acts as a switch to control the rebar in the rebar storage box 1003 to roll down to the rebar discharge port 1003a for the rebar transfer mechanism 1006 to retrieve. A rebar transfer track 1005 is provided near the rebar discharge port 1003a. One end of the rebar transfer track 1005 is parallel to the direction of the rebar discharge port 1003a, and the other end extends horizontally from near the end of the rebar discharge port 1003a to between the electroslag pressure welding section 4000 and the rebar feeding section 5000. The purpose is that after the rebar transfer mechanism 1006 takes the rebar from both ends of the rebar discharge port 1003a, it can control the rebar to rotate to a vertical direction, so as to facilitate the transfer to the electroslag pressure welding section 4000 and the rebar feeding section 5000 for processing.

[0056] The rebar transfer mechanism 1006, from bottom to top, consists of a rebar transfer electric trolley 1006a, a rebar transfer first electric push rod 1006b, a rebar transfer first rotary motor 1006c, a rebar transfer second electric push rod 1006d, a rebar transfer second rotary motor 1006e, a rebar transfer third electric push rod 1006f, and a rebar transfer electric gripper 1006g. The first electric push rod 1006b, the first electric push rod 1006c, and the third electric push rod 1006f are all vertically oriented, while the second electric push rod 1006d, the second electric push rod 1006e, the third electric push rod 1006f, and the third electric push rod 1006g are all vertically oriented. The rotary motor 1006e is horizontally oriented. It should be noted that similar terms like "first electric push rod 1006b" and "first rotary motor 1006c" for rebar transfer are actually generic electric push rods and rotary motors; the prefix "rebar transfer" is added for easy differentiation of their functions. The purpose of this structure is that when initial rebar transfer is required, sufficient rebar of suitable specifications should be pre-stored in the rebar storage box 1003. When the robot approaches the construction site, the rebar output electric push rod 1003b retracts its rectangular baffle at the output end, allowing individual rebars to slide using the sloping bottom plate of the rebar storage box 1003. The rebar falls into the rebar discharge port 1003a, and at the same time, the rebar output electric push rod 1003b is pushed out to block the rectangular opening and prevent excess rebar from slipping out. Then, the rebar transfer electric trolley 1006a of the rebar transfer mechanism 1006 is moved to the leftmost or rightmost end of the rebar discharge port 1003a, and the first electric push rod 1006b and the second electric push rod 1006d are pushed out so that the third electric push rod 1006f and the electric gripper 1006g are positioned above the end of the rebar 1004. The first electric push rod 1006b is retracted and the third electric push rod is pushed out. 1006f causes the electric gripper 1006g of the rebar transfer mechanism to approach the rebar 1004, and simultaneously activates the electric gripper 1006g to clamp the end of the rebar 1004. The mechanism then retracts in the opposite manner, while the first rotary motor 1006c and the second rotary motor 1006e of the rebar transfer mechanism are activated. This adjusts the originally horizontally oriented rebar to a suitable horizontal position and rotates it from a horizontal orientation to a vertical orientation, facilitating transportation and subsequent clamping. At this point, the single rebar is clamped, and the rebar transfer mechanism 1006 is moved to the track between the electroslag pressure welding section 4000 and the rebar feeding section 5000 to await retrieval.

[0057] Compared to existing technologies, steel bars are usually piled up at the construction site. Workers often need to repeatedly retrieve steel bars when performing electroslag pressure welding for extended steel bar length, which is inconvenient. Moreover, the heavy steel bars are difficult to align during subsequent construction, causing certain quality problems. However, this invention uses a steel bar storage box 1003 to pre-store a sufficient quantity of steel bars of suitable specifications on a robot. When construction is needed, the robot can simply be driven to the vicinity of the construction site to retrieve the steel bars as needed. The steel bar discharge port 1003a on the steel bar storage box 1003, together with the steel bar output electric push rod 1003b and the steel bar transfer mechanism 1006, enables the mechanized and automatic retrieval of steel bars and quickly changes the orientation from horizontal to vertical, facilitating subsequent clamping and alignment, greatly improving the efficiency of steel bar retrieval and saving time.

[0058] Depend on Figure 4-5As shown, the straightening section 2000 consists of four first columns 2001 installed at the left rear end of the main body 1001. Horizontally, each pair of columns forms a group. Near the upper end of each group of columns, a first horizontal bar 2002 extending to the outside of the main body 1001 is provided. Several fixing rods connect the upper ends of two first horizontal bars 2002 together to improve stability. A monitoring matrix mounting plate 2004 is located near the outermost position on the upper surface of the two first horizontal bars 2002, covering a rectangular area outside the main body. This area is the main area for rebar straightening construction. The bottom surface of the monitoring matrix mounting plate 2004 has downward-facing laser... The laser rangefinder matrix 2005 is a general-purpose component. It mainly obtains the surface flatness of the rectangular area of ​​the pile head rebar by laser ranging, and monitors the shape of the rebar projection in the vertical direction to determine the degree of bending of the rebar. In conjunction with the straightening unit 2100 below, the rebar is straightened in real time. After all the straightening is completed, the shape of the rebar projection detected by the laser rangefinder matrix 2005 should be exactly the same as the circle of a single rebar cross section. The lower surface of the two first horizontal bars 2002 is provided with a first straightening track 2003 extending to the outside of the main body. Several straightening units 2100 are installed on the first straightening track 2003 by an electric trolley. The straightening unit 2100 has a base consisting of a straightening second track mounting plate 2101 mounted on an electric trolley. The lower surface of the straightening second track mounting plate 2101 has a transverse straightening second track 2102. Two straightening mechanisms are mounted on the straightening second track 2102 via the electric trolley. Each straightening mechanism, from top to bottom, consists of a straightening first electric push rod mounting seat 2103a, a straightening first electric push rod 2103b, a straightening rotary motor 2103c, a straightening second electric push rod 2103d, and a straightening electric gripper 2103e. The straightening second electric push rod 2103d is horizontal. Orientation; The purpose of setting two straightening mechanisms on a single straightening unit 2100 is that, through the cooperation of the second electric push rod 2103d and the rotary motor 2103c, a single straightening unit 2100 can straighten one side of the steel bar through the two straightening mechanisms on the same side. When multiple straightening units 2100 and their multiple sets of straightening mechanisms are used in cooperation, the height of the first electric push rod 2103b is further adjusted so that a single steel bar can be straightened by multiple sets of straightening mechanisms at multiple angles and from multiple sides at the same time, thereby greatly improving the straightening efficiency and accuracy.

[0059] The purpose of this structure is to allow the robot to move until the monitoring matrix mounting plate 2004 covers the pile head rebar area when the pile head rebar straightening process is required. At this point, the straightening units 2100 on the first straightening track 2003 are controlled to move out of the monitoring matrix area. The laser rangefinder matrix 2005 is then activated to perform the first distance measurement on the pile head rebar, obtaining the projection of each rebar and thus determining the degree of bending. Then, the straightening units 2100 are controlled to move above the rebar that needs straightening. It should be noted that, depending on the actual degree of bending, multiple straightening units 2100 can simultaneously straighten a single rebar, or multiple straightening units 2100 can simultaneously straighten multiple groups of rebars. At this time, the first straightening track 2003 is activated... The push rod 2103b lowers the straightening rotary motor 2103c below it, which in turn starts the straightening rotary motor 2103c, the second electric push rod 2103d, and the electric clamp 2103e, clamping them to a point of the rebar to be straightened. Multiple straightening mechanisms hold the rebar at different heights, and each second electric push rod 2103d is pushed out according to the degree of bending, so that the rebar is straightened. During the straightening process, the degree of bending of the rebar can be monitored in real time by the laser rangefinder matrix 2005. Since the rebar is usually located between the straightening units, the straightening unit 2100 will not block the monitoring of the degree of bending of the rebar at that point. After all the rebars are straightened, each straightening unit 2100 is retracted into the main body, and preparation is made for the rebar head cleaning process.

[0060] Compared to existing technologies, where two workers use wrenches to straighten a single rebar, requiring constant monitoring of the rebar's angle, this method is technically demanding, time-consuming, and physically demanding, and prolonged work can significantly harm workers' health. This invention, however, utilizes a designed straightening section 2000 that covers all rebar areas at the pile head. A laser rangefinder matrix 2005 monitors the rebar's bending degree in real time. Combined with the first straightening track 2003 and its various straightening units 2100, the rebar is straightened individually or simultaneously. The entire process is highly mechanized. Furthermore, the multiple straightening units 2100, each with two opposing straightening mechanisms, work together to effectively handle rebar bending at various angles. The robot is highly adaptable and efficient, and real-time monitoring of the rebar's bending degree ensures high-quality straightening.

[0061] Depend on Figure 6As shown, the cleaning section 3000 consists of a main frame structure similar to the straightening section 2000, that is, it also has a first column 2001, a first crossbar 2002, a first straightening track 2003, a monitoring matrix mounting plate 2004, and a laser rangefinder matrix 2005, only the straightening unit 2100 is replaced with a cleaning unit. This cleaning unit also has a second straightening track mounting plate 2101 and a second straightening track 2102, but its second straightening track 2102 is equipped with several sets of cleaning mechanisms. These cleaning mechanisms... From top to bottom, it consists of a cleaning electric push rod mounting base 3001a, a cleaning electric push rod 3001b, a cleaning rotary motor 3001c, and a ring-shaped steel wire ring 3001d connected together. All the mechanisms on it are vertically oriented. The ring-shaped steel wire ring 3001d is made by processing ordinary steel wool into a ring-shaped structure with a hollow center, so that it can be inserted into a rebar head. It should be noted that since there is no horizontal spatial interference problem between the cleaning units and cleaning mechanisms of the cleaning section 3000, a single cleaning unit can be added. The number of cleaning mechanisms is increased to further improve cleaning efficiency and pile head rebar coverage, allowing multiple rebars to be cleaned simultaneously, saving time. The purpose of this structure is to control the robot's movement when the rebar head cleaning process is required, so that the monitoring matrix area of ​​the cleaning section 3000 moves to cover the pile head rebar area, and the laser rangefinder matrix 2005 below it is activated to obtain the position of each rebar on the pile head. The cleaning units and cleaning mechanisms are then controlled to move to the appropriate positions, so that there is a cleaning mechanism above each rebar. At this time, the cleaning electric push rod 3001b pushes down the cleaning rotary motor 3001c and the annular steel wire ring 3001d, so that the rebar head is inserted into the hollow area in the middle of the annular steel wire ring 3001d, and the outer periphery of the rebar head is in contact with the steel wire ring. The cleaning rotary motor 3001c is activated, and its output shaft rotates to drive the annular steel wire ring 3001d to rotate, thereby allowing the annular steel wire ring 3001d to perform friction cleaning on the rebar head and remove debris. After cleaning is completed, the cleaning units are controlled to return to the inside of the main body to prepare for the electroslag pressure welding process.

[0062] Compared to existing technologies where workers use steel wool to clean each pile head rebar individually, which is inefficient and time-consuming, this invention pre-aligns the pile head rebars, ensuring precise horizontal positioning of each rebar. This allows each cleaning mechanism on the cleaning unit 3000 to be aligned with each pile head rebar. The cleaning electric push rod 3001b lowers the annular steel wire ring 3001d to contact the rebar head, and finally, the cleaning rotary motor 3001c rotates the annular steel wire ring 3001d for rapid cleaning of the rebar head. This significantly improves cleaning efficiency, and the simultaneous cleaning by multiple cleaning mechanisms effectively saves cleaning time and improves cleaning quality.

[0063] Depend on Figure 7-9As shown, the electroslag pressure welding section 4000 is mainly composed of several second columns 4004 arranged horizontally near the cleaning section 3000. Near the upper and lower ends of the second columns 4004, there are two second crossbars 4005 extending horizontally to the outside of the main body. Each second crossbar 4005 has an electroslag pressure welding first track 4006 on its outer surface. Two sets of electroslag pressure welding mechanisms are connected between the two electroslag pressure welding first tracks 4006 by an electric trolley. Each set of electroslag pressure welding mechanisms is mainly composed of a vertical electroslag pressure welding second track mounting plate 4007a. The electroslag pressure welding second track mounting plate 4007a extends upward by a certain distance, so that the subsequent mechanisms in this vertical area have a large upper storage space, which facilitates subsequent downward extension. An electroslag pressure welding second track mounting plate 4007a is provided with an electroslag pressure welding second track 4007b. An execution unit mounting seat 4007c is connected to the electroslag pressure welding second track 4007b via an electric trolley. It should be noted that the electric trolley connected to the mounting seat is mainly located at the upper part of the mounting seat. Its purpose is to cooperate with the upward-extending electroslag pressure welding second track mounting plate 4007a, so that when the electric trolley moves to the lower end of the electroslag pressure welding second track 4007b, the execution unit mounting seat 4007c can extend downward by a certain distance, thereby further expanding the construction height range of electroslag pressure welding. Near the rear of the second column 4004, the main body 1001 is equipped with a waste electroslag recycling box 4003 and an electroslag storage box 4002. The waste electroslag recycling box 4003 is directly connected to the surface of the main body, while the electroslag storage box 4002 is fixed to the main body at a certain height by an electroslag storage box support 4001. Both storage boxes are open at the top, but the bottom of the electroslag storage box 4002 is also equipped with an electric valve 4002a. The purpose of this is that the electroslag storage box 4002 can actively discharge materials, while the waste electroslag recycling box 4003 passively receives waste materials. The execution unit mounting bases 4007c of the two sets of electroslag pressure welding mechanisms are respectively equipped with a clamping pressure unit 4100 and a welding filler unit 4200.The clamping and pressure-applying unit 4100 is mainly composed of a clamping mechanism mounting base 4101 mounted on the execution unit mounting base 4007c. From bottom to top, the upper surface of the clamping mechanism mounting base 4101 is sequentially connected to a clamping mechanism fixing base 4102a, an upper clamping head sliding screw 4102b, a clamping mechanism fixing top seat 4102c, and a lifting and pressure-applying electric push rod 4102d. The output shaft of the lifting and pressure-applying electric push rod 4102d passes through the clamping mechanism fixing top seat 4102c and is mounted on the upper clamping head sliding screw... A hook-shaped clamping head 4103 is fixedly connected to the rod 4102b. One end of the hook-shaped clamping head 4103 is a rectangular slider, which is connected to the upper clamping head sliding screw 4102b via a linear ball bearing. It can slide up and down on the upper clamping head sliding screw 4102b by being pushed by the lifting and pressing electric push rod 4102d. The other end is a hook-shaped structure, the shape of which matches the shape of the steel bar, so that one end of the steel bar contacts its hook surface, and the other end is fixed under the pressure of the clamping member at the output end of the clamping electric push rod 4104. The outer surface of the rectangular slider end of the hook-shaped clamping head 4103 near the hook-shaped structure end is provided with a clamping electric push rod 4104 facing the hook-shaped structure, and its output end is connected to a clamping member that matches the shape of the steel bar. At the same horizontal position at the bottom of the clamping mechanism mounting base 4101, there is also a hook-shaped clamping head 4103, which is also equipped with a clamping electric push rod 4104. This allows the lower hook-shaped clamping head 4103 to fix the lower reinforcing bar. Since the upper and lower hook-shaped clamping heads 4103 are at the same horizontal position, the upper hook-shaped clamping head 4103 only needs to clamp the upper reinforcing bar to complete the alignment of the upper and lower reinforcing bars. The upper lifting and pressing electric push rod 4102d pushes the hook-shaped clamping head 4103 to drive the upper reinforcing bar down, thereby aligning and applying pressure, completing the clamping, alignment, and pressing process of electroslag pressure welding.

[0064] Near the upper part of the welding filler unit 4200, there is a welding auxiliary mechanism. This welding auxiliary mechanism consists of a welding electric push rod 4201a, a welding rotary motor 4201b, and a welding clamp 4201c connected from left to right. The welding clamp 4201c faces the direction of the rebar construction, that is, it faces the same direction as the receiving electric push rod 4205a below. The welding clamp 4201c can be connected to an electroslag pressure welding machine. Near the lower part of the welding filler unit 4200, there is a loading mechanism mounting base 4202. The front surface of the loading mechanism mounting base 4202 (the surface where the flux box 4204c is located) has two loading tracks 4202a. The upper surface of the loading mechanism mounting base 4202 has a longitudinal feeding mechanism mounting base 4203 in the middle. The right surface of the feeding mechanism mounting base 4203 has a feeding track 4203a. Two flux box electric push rods 4204a are connected to the upper loading track 4202a via an electric trolley. The output end of the flux box electric push rod 4204a is connected to the flux box clamping seat 4204b. The flux box clamping seat 4204b consists of two extension seats located at both ends of the flux box 4204c. A typical flux box is cup-shaped with a circular opening in the middle for the rebar to pass through. It can also be opened and closed by hinges to clamp the rebar in the circular opening and fill the box with electroslag filler. In this invention, the flux box is equipped with a flux box clamping seat 4204b, which can move laterally and two flux box electric push rods 4204a can be extended longitudinally. This allows the flux box 4204c to automatically close and lock onto the rebar or open and detach from the rebar through a mechanical structure. The lower loading track 4202a is connected to receiving electric push rods sequentially outward via an electric trolley. 4205a, receiving rotary motor 4205b, and receiving plate 4205c. The receiving plate 4205c is a rectangular base plate with baffles around its perimeter, and a rectangular opening extends outward from the center. The end of the rectangular opening is a circular opening with a diameter matching the reinforcing bar. This structure is designed so that when electroslag pressure welding is performed above, the reinforcing bar passes through the rectangular opening and rests against the circular opening below. After welding is completed and the flux box 4204c is opened, the waste electroslag falls and is directly caught by the receiving plate 4205c. Although a certain amount of electroslag will still leak out through the rectangular opening, it is more efficient than the traditional method of manually catching the material with a receiving plate, and can collect most of the waste electroslag. A feeding rotary motor 4206a is connected to the feeding track 4203a via an electric trolley. The output end of the feeding rotary motor 4206a is connected to a feeding box 4206b that is in the same direction as the flux box 4204c. The feeding box 4206b is shaped like a shovel and has a baffle at the end to prevent electroslag from leaking out when the material is tilted.

[0065] The purpose of this structure is that when electroslag pressure welding is required, the robot is first moved until the electroslag pressure welding section 4000 and the rebar feeding section 5000 cover the pile head rebar area in the external extension area of ​​its main body. At this time, the rebar feeding mechanism of the rebar feeding section 5000 is moved to the vicinity of the end of the rebar transfer track 1005. By controlling the rebar feeding electric gripper 5002, the rebar feeding electric push rod 5001 and the rebar transfer mechanism 1006 with the rebar, the rebar is clamped by the rebar feeding mechanism, and the height of the rebar is adjusted by the track. After reaching the appropriate height, the rebar feeding electric push rod 5001 is pushed out, so that the rebar moves into the clamping area of ​​the hook-shaped clamping head 4103 on the clamping and pressure application unit 4100, driving the clamping head 4103 to move into the clamping area of ​​the clamping and pressure application unit 4100. The electric push rod 4104 extends its end clamping member to clamp the upper rebar, retracts the rebar feeding mechanism, and prepares for electroslag pressure welding. At this time, the clamping and pressure applying unit 4100, carrying the upper rebar, is moved above the rebar to be constructed via the first electroslag pressure welding track 4006. The clamping and pressure applying unit 4100 is lowered via the second electroslag pressure welding track 4007b until the lower hook-shaped clamping head 4103 covers the pile head rebar. Then, the clamping electric push rod 4104 on the lower hook-shaped clamping head 4103 is extended, and its clamping member, in conjunction with the hook-shaped clamping head 4103, fixes the lower rebar. At this point, the upper and lower rebars are aligned. Then, the lifting and pressure applying electric push rod 4102d is controlled to lower the upper hook-shaped clamping head 4103, thus... When the upper and lower reinforcing bars come into contact, the welding filler unit 4200 is moved to the vicinity of the reinforcing bars. It should be noted that the feeding mechanism has already been pre-moved to the electroslag storage tank 4002 and connected with sufficient electroslag via the electric valve 4002a. The welding filler unit 4200 is then moved to a suitable position on the second electroslag pressure welding track 4007b, aligning the height of the flux box 4204c with the reinforcing bar joint. Then, through the coordinated action of the two sets of electric trolleys on the upper loading track 4202a and the electric push rod 4204a of the flux box, the flux box 4204c is pushed out and fixed closed against the reinforcing bar joint. At this point, flux can be added to the flux box 4204c, with the electric trolley on the feeding track 4203a carrying the added flux. Box 4206b moves above flux box 4204c. The feeding rotary motor 4206a controls the tilt angle of the feeding box 4206b to add flux into the flux box 4204c. After completion, the welding electric push rod 4201a and the welding rotary motor 4201b rotate and push out the welding clamp 4201c, so that it hangs above the rebar. At the same time, the receiving electric push rod 4205a is controlled to push out the receiving plate 4205c so that it is inserted into the rebar. It should be noted that the position of the rebar construction should be a fixed position relative to the various mechanisms on the welding filler unit 4200. That is, it is only necessary to move the rebar to the corresponding position, and the various mechanisms on it can move to the preset position to complete the electroslag pressure welding. Compared with the existing rebar not moving and the mechanism moving, this should be understood as the mechanism not moving and the rebar moving.The electroslag pressure welding machine is started, and the hook-shaped clamping head 4103 above is pushed down by the lifting and pressure applying electric push rod 4102d to perform pressure welding. After completion, the flux box 4204c and the above mechanisms are opened and retracted, and the waste material falls into the receiving plate 4205c. When the welding filler unit 4200 moves back to the top of the waste electroslag recycling box 4003, the receiving rotary motor 4205b is started to rotate the receiving plate 4205c, and the waste material falls into the waste electroslag recycling box 4003 for recycling. At this point, the entire extended electroslag pressure welding process is completed.

[0066] Compared to existing technologies, where workers manually use welding clamps, flux boxes, and electroslag hoppers, while simultaneously aligning the upper and lower reinforcing bars and applying pressure, the process is cumbersome and involves frequent tool switching, demanding considerable skill and experience from workers and prone to inconsistent welding quality and low efficiency. This invention addresses this issue with its electroslag pressure welding section 4000, which works in conjunction with the reinforcing bar feeding section 5000 and the reinforcing bar transfer mechanism 1006 for automatic transfer and retrieval of reinforcing bars. The electroslag pressure welding section 4000... The clamping and pressure application unit 4100 and the welding filler unit 4200 work closely together to sequentially complete the clamping, alignment, butt jointing, flux box loading, electroslag filling, pressure welding, and waste recycling processes of the rebar extension electroslag pressure welding. The process is highly mechanized and streamlined, allowing for sequential construction of rebars on the same pile head one by one, which greatly improves efficiency, saves tool switching time and costs, and does not rely on the technical experience of individual workers. The quality of rebar electroslag pressure welding is guaranteed, and the large-scale recycling of waste welding materials can protect the environment and save construction costs.

[0067] Depend on Figure 10 As shown, the main structure of the feed rod section 5000 is similar to that of the electroslag pressure welding section 4000, but it lacks the clamping pressure unit 4100 and the welding filler unit 4200, and removes its actuator mounting base 4007c, replacing it with two sets of feed rod electric push rods 5001 mounted on the electric trolley and feed rod electric grippers 5002 connected to their output ends; similarly, this feed rod section 5000 lacks the electroslag storage box support base 4001, the electroslag storage box 4002, the waste electroslag recycling box 4003, and the electric valve. 4002a; The reinforcing bar feeding section 5000 is installed on the main body 1001 and is positioned opposite to the electroslag pressure welding section 4000. The reinforcing bar transfer track 1005 is located between the reinforcing bar feeding section 5000 and the electroslag pressure welding section 4000. The first electroslag pressure welding track 4006 on the reinforcing bar feeding section 5000 is positioned opposite to the electroslag pressure welding section 4000. The purpose of this structure is to receive the reinforcing bars on the reinforcing bar transfer mechanism 1006, adjust their height, and send them to the electroslag pressure welding section 4000 for subsequent construction.

[0068] The pile head rebar straightening and intelligent welding extension device of the present invention can store a certain number of rebars in advance through its main body 1000. When rebar extension electroslag pressure welding is required, the robot is driven to the vicinity of the target pile head, and the rebar transfer mechanism 1006 above it transports the rebars to the rebar delivery part 5000. The rebar delivery part 5000 then transfers the rebars to the electroslag pressure welding part 4000. With the cooperation of the clamping and pressure application unit 4100 and the welding filler unit 4200, the extension electroslag pressure welding of the pile head rebar is completed, realizing... The mechanization and automation of rebar extension construction significantly improves construction efficiency and saves labor costs. When straightening the pile head rebar, the robot can be driven to the vicinity of the pile head. The straightening part 2000 and the cleaning part 3000, which extend to the periphery of the main body 1001, can straighten and clean the pile head rebar one by one or simultaneously. During the construction process, a monitoring matrix can be used to monitor the straightening quality in real time, which greatly saves the time required for rebar straightening, improves efficiency and straightening quality, and cleans the rebar to provide good construction conditions for the subsequent rebar extension electroslag pressure welding process.

[0069] Accordingly, the method for straightening and intelligent welding extension of pile head reinforcement in this invention comprises the following steps:

[0070] S1. Initial Transfer of Rebar: When initial transfer of rebar is required, a sufficient quantity of rebar of suitable specifications should be pre-stored in the rebar storage box 1003. When the robot approaches the construction site, the rebar output electric push rod 1003b is controlled to retract the rectangular baffle at its output end, allowing individual rebars to slide down the sloping bottom plate of the rebar storage box 1003 into the rebar discharge port 1003a. Simultaneously, the rebar output electric push rod 1003b is pushed out to block the rectangular opening and prevent excess rebar from sliding out. Subsequently, the rebar transfer electric trolley 1006a of the rebar transfer mechanism 1006 is controlled to move to the leftmost or rightmost end of the rebar discharge port 1003a, coordinating the push of the first rebar transfer electric push rod 1006b and the second rebar transfer electric push rod 1006d, so that the third rebar transfer electric push rod 1006f and the rebar transfer electric push rod 1006f can be pushed out. The electric gripper 1006g for transferring rebar is located above the end of the rebar 1004. It retracts the first electric push rod 1006b for transferring rebar and pushes out the third electric push rod 1006f for transferring rebar, so that the electric gripper 1006g for transferring rebar approaches the rebar. Simultaneously, the electric gripper 1006g for transferring rebar clamps the end of the rebar. It then retracts in the opposite manner. At the same time, the first rotary motor 1006c and the second rotary motor 1006e for transferring rebar are activated, so that the rebar 1004, which was originally horizontal, is adjusted to a suitable horizontal position and rotated from horizontal to vertical, which is convenient for transportation and subsequent clamping. At this time, the single rebar is clamped. The rebar transfer mechanism 1006 is moved to the track between the electroslag pressure welding part 4000 and the rebar feeding part 5000 to wait for retrieval.

[0071] S2. Rebar Straightening: When the pile head rebar straightening process is required, the robot is started to move until the monitoring matrix mounting plate 2004 covers the pile head rebar area. At this time, the straightening units 2100 on the first straightening track 2003 are first controlled to move out of the monitoring matrix area. The laser rangefinder matrix 2005 is started to perform the first distance measurement on the pile head rebar to obtain the projection of each rebar, and thus know the degree of bending of each rebar. At this time, the straightening units 2100 are controlled to move above the rebar that needs to be straightened. It should be noted that, depending on the actual degree of bending, multiple sets of straightening units 2100 can be used to straighten one rebar at the same time, or multiple sets of straightening units 2100 can be used to straighten multiple sets of rebar at the same time. At this time, the first electric push rod of straightening is used. 2103b lowers its straightening rotary motor 2103c, coordinating with the activation of the straightening rotary motor 2103c, the second electric straightening push rod 2103d, and the electric straightening gripper 2103e, clamping the rebar to be straightened. Multiple straightening mechanisms hold the rebar at different heights, and each second electric straightening push rod 2103d is pushed out according to the degree of bending, thus straightening the rebar. During the straightening process, the degree of bending of the rebar can be monitored in real time by the laser rangefinder matrix 2005. Since the rebar is usually located between the straightening units 2100, the straightening units 2100 will not obstruct the monitoring of the degree of bending of the rebar at that location. After all the rebars have been straightened, each straightening unit 2100 is retracted into the main body, and preparation is made for the rebar head cleaning process.

[0072] S3. Rebar Head Cleaning: When the rebar head cleaning process is required, control the robot to move so that the monitoring matrix area of ​​the cleaning part 3000 moves to cover the rebar area of ​​the pile head. Activate the laser rangefinder matrix 2005 below to obtain the position of each rebar on the pile head. Control each group of cleaning units and cleaning mechanisms to move to the appropriate position so that there is a cleaning mechanism above each rebar. At this time, the cleaning electric push rod 3001b pushes down the cleaning rotary motor 3001c and the annular steel wire ring 3001d, so that the rebar head is inserted into the hollow area in the middle of the annular steel wire ring 3001d, and the outer periphery of the rebar head is in contact with the annular steel wire ring 3001d. Activate the cleaning rotary motor 3001c, and its output shaft rotates to drive the annular steel wire ring 3001d to rotate, thereby allowing the annular steel wire ring 3001d to perform friction cleaning on the rebar head to remove debris. After cleaning is completed, control each cleaning unit to return to the inside of the main body to prepare for the electroslag pressure welding process.

[0073] S4. Electroslag Pressure Welding: When electroslag pressure welding is required, the robot is first moved until the electroslag pressure welding section 4000 and the rebar feeding section 5000 cover the pile head rebar area in the external extension area of ​​the main body. At this time, the rebar feeding mechanism of the rebar feeding section 5000 is moved to the vicinity of the end of the rebar transfer track 1005. By controlling the rebar feeding electric gripper 5002, the rebar feeding electric push rod 5001 and the rebar transfer mechanism 1006 with the rebar, the rebar is clamped by the rebar feeding mechanism, and the height of the rebar is adjusted by the track. After reaching the appropriate height, the rebar feeding electric push rod 5001 is pushed out, so that the rebar moves into the clamping area of ​​the hook-shaped clamping head 4103 on the clamping and pressure unit 4100, and the clamping electric push rod is driven to move the rebar to the clamping area of ​​the hook-shaped clamping head 4103 on the clamping and pressure unit 4100. The push rod 4104 extends its end clamping member to clamp the upper rebar, retracts the rebar feeding mechanism, and prepares for electroslag pressure welding. At this time, the clamping and pressure applying unit 4100, which clamps the upper rebar, is moved above the rebar to be constructed via the first electroslag pressure welding track 4006. The clamping and pressure applying unit 4100 is lowered via the second electroslag pressure welding track 4007b until the lower hook-shaped clamping head 4103 covers the pile head rebar. At this time, the clamping electric push rod 4104 on the lower hook-shaped clamping head 4103 is extended, and the clamping member on it cooperates with the hook-shaped clamping head 4103 to fix the lower rebar. At this time, the upper and lower rebars are aligned. Then, the lifting and pressure applying electric push rod 4102d is controlled to lower the upper hook-shaped clamping head 4103, so that the upper rebar... When the square reinforcing bar contacts the reinforcing bar below, the welding filler unit 4200 is moved to the vicinity of the reinforcing bar. It should be noted that the feeding mechanism has already been pre-moved to the electroslag storage box 4002 and connected with sufficient electroslag via the electric valve 4002a. The welding filler unit 4200 is then moved to a suitable position on the second electroslag pressure welding track 4007b, aligning the height of the flux box 4204c with the reinforcing bar joint. Then, through the coordinated action of the two sets of electric trolleys on the upper loading track 4202a and the electric push rod 4204a of the flux box, the flux box 4204c is pushed out and fixed closed against the reinforcing bar joint. At this point, the flux box 4204c can be filled, with the electric trolley on the filling track 4203a carrying the filling box. 4206b moves above the flux box 4204c. The feeding rotary motor 4206a controls the tilt angle of the feeding box 4206b to add flux into the flux box 4204c. After completion, the welding electric push rod 4201a and the welding rotary motor 4201b rotate and push out the welding clamp 4201c, so that it hangs above the rebar. At the same time, the receiving electric push rod 4205a is controlled to push out the receiving plate 4205c so that it is inserted into the rebar. It should be noted that the position of the rebar construction should be a fixed position relative to the various mechanisms on the welding filler unit 4200. That is, it is only necessary to move the rebar to the corresponding position, and the various mechanisms on it can move to the preset position to complete the electroslag pressure welding. Compared with the existing rebar stationary and mechanism moving, this should be understood as the mechanism stationary and the rebar moving.The electroslag pressure welding machine is started, and the hook-shaped clamping head 4103 above is pushed down by the lifting and pressure applying electric push rod 4102d to perform pressure welding. After completion, the flux box 4204c and the above mechanisms are opened and retracted, and the waste material falls into the receiving plate 4205c. When the welding filler unit 4200 moves back to the top of the waste electroslag recycling box 4003, the receiving rotary motor 4205b is started to rotate the receiving plate 4205c, and the waste material falls into the waste electroslag recycling box 4003 for recycling. At this point, the entire extended electroslag pressure welding process is completed.

[0074] The pile head rebar straightening and intelligent welding extension method of the present invention can be directly applied to existing pile head rebar straightening and extension electroslag pressure welding construction. The straightening section 2000 and cleaning section 3000, extending to the periphery of the main body, can cover the disc-shaped pile head and the rebar above it. The horizontal and vertical tracks in the straightening section 2000 and cleaning section 3000 work together to effectively straighten and clean multiple rebars through several straightening units 2100 and cleaning units. Combined with the laser rangefinder matrix 2005, the bending degree and cleanliness of the rebars can be monitored in real time. Because the array of multiple straightening units 2100 can be adjusted within a certain range, it provides good performance for rebars with different bending degrees. The system is highly adaptable, and a large number of cleaning units can simultaneously cover and clean multiple reinforcing bars, effectively improving cleaning efficiency. After the pile head reinforcing bars have been straightened and cleaned, the reinforcing bar storage and transfer mechanism, together with the reinforcing bar delivery section 5000 and the electroslag pressure welding section 4000, can carry out the next construction step on the pile head reinforcing bars. The clamping and pressure application unit 4100 and the welding filler unit 4200 on the electroslag pressure welding section 4000 cooperate with each other to complete the alignment, clamping, flux box fixing, filling of the filling box, electric welding arc ignition, pressure application, and waste material recycling by the receiving plate 4205c. The various processes are closely coordinated and highly integrated, which greatly improves construction efficiency and saves time and costs. Moreover, the degree of mechanization is high, and the construction quality is well guaranteed.

[0075] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A device for straightening and intelligently welding extension of pile head reinforcing bars, characterized in that, include: The main body part (1000) includes a main body (1001) and a steel bar storage box (1003) installed on the main body (1001). The straightening section (2000) consists of four first columns (2001) installed at the left rear end of the main body (1001). The upper end of the first column (2001) is provided with a first crossbar (2002) extending to the outside of the main body (1001). Several straightening units (2100) are installed on the first straightening track (2003) on the lower surface of the first crossbar (2002) by an electric trolley for straightening the steel bars. The cleaning section (3000), installed in the front of the straightening section (2000) in a rear-to-forward direction, includes a cleaning unit for rubbing and cleaning the rebar ends; The electroslag pressure welding section (4000) is installed in front of the cleaning section (3000) in a rear-to-forward direction. It consists of a number of second columns (4004) forming the main body. Near the upper and lower ends of the second columns (4004), there are two second crossbars (4005) extending laterally to the outside of the main body. Each second crossbar (4005) has an electroslag pressure welding first track (4006) on its outer surface. The two electroslag pressure welding first tracks (4006) are connected by an electric trolley to two sets of electroslag pressure welding mechanisms. The two sets of electroslag pressure welding mechanisms are respectively equipped with a clamping and pressure applying unit (4100) and a welding filler unit (4200). The clamping and pressure applying unit (4100) is used to apply pressure to align the upper and lower reinforcing bars. The welding filler unit (4200) is used to surround the alignment of the upper and lower reinforcing bars with electroslag to complete the electroslag pressure welding. The reinforcing bar feeding section (5000) is installed in front of the electroslag pressure welding section (4000) in a rear-to-forward direction, and is used to feed the reinforcing bars in the reinforcing bar storage box (1003) into the electroslag pressure welding section (4000); The straightening unit (2100) is based on a straightening second track mounting plate (2101) mounted on an electric trolley. The lower surface of the straightening second track mounting plate (2101) is provided with a horizontal straightening second track (2102). Two straightening mechanisms are mounted on the straightening second track (2102) via the electric trolley. Each straightening mechanism is connected from top to bottom by a straightening first electric push rod mounting seat (2103a), a straightening first electric push rod (2103b), a straightening rotary motor (2103c), a straightening second electric push rod (2103d), and a straightening electric gripper (2103e). The straightening second electric push rod (2103d) is horizontal. The cleaning unit is composed of a cleaning electric push rod mounting base (3001a), a cleaning electric push rod (3001b), a cleaning rotary motor (3001c), and an annular steel wire ring (3001d) connected from top to bottom, and all the mechanisms on it are vertically oriented. Each electroslag pressure welding mechanism consists of a vertical electroslag pressure welding second track mounting plate (4007a) as its main body, which extends upwards by a certain distance. The electroslag pressure welding second track (4007b) is provided on the electroslag pressure welding second track mounting plate (4007a), and the execution unit mounting seat (4007c) is connected to the electroslag pressure welding second track (4007b) via an electric trolley. The clamping and pressure application unit (4100) and the welding filler unit (4200) are respectively installed on the two execution unit mounting seats (4007c). Near the rear of the second column (4004), the main body (1001) is equipped with a waste electroslag recycling box (4003) and an electroslag storage box (4002) at the front and rear. The waste electroslag recycling box (4003) is directly connected to the surface of the main body. The electroslag storage box (4002) is fixed to the main body at a certain height by an electroslag storage box support (4001). Both storage boxes are open at the top. An electric valve (4002a) is also provided on one side of the bottom of the electroslag storage box (4002). The clamping and pressure-applying unit (4100) consists of a clamping mechanism mounting base (4101) mounted on the execution unit mounting base (4007c). The upper surface of the clamping mechanism mounting base (4101) is sequentially connected from bottom to top to the following components: a clamping mechanism fixing base (4102a), an upper clamping head sliding screw (4102b), a clamping mechanism fixing top seat (4102c), and a lifting and pressure-applying electric push rod (4102d). The output shaft of the lifting and pressure-applying electric push rod (4102d) passes through the clamping mechanism fixing top seat (4102c) and is mounted on the upper clamping mechanism mounting base (4007c). The hook-shaped clamping head (4103) on the head sliding screw (4102b) is fixedly connected. One end of the hook-shaped clamping head (4103) is a rectangular slider, which is connected to the upper clamping head sliding screw (4102b) through a linear ball bearing. It can be pushed up and down on the upper clamping head sliding screw (4102b) by the lifting and pressing electric push rod (4102d). The other end is a hook-shaped structure, which matches the shape of the steel bar so that one end of the steel bar contacts its hook surface, and the other side is fixed under the pressure of the clamping member at the output end of the clamping electric push rod (4104). The rectangular slider end of the hook-shaped clamping head (4103) is provided with a clamping electric push rod (4104) facing the hook-shaped structure on the outer surface of the hook-shaped structure end. Its output end is connected to a clamping member that matches the shape of the steel bar. At the same horizontal position at the bottom of the clamping mechanism mounting base (4101), there is also a hook-shaped clamping head (4103), which is also provided with a clamping electric push rod (4104), so that the hook-shaped clamping head (4103) at the lower end fixes the steel bar below.

2. The pile head reinforcement straightening and intelligent welding extension device according to claim 1, characterized in that, The interior of the rebar storage box (1003) is provided with a sloping bottom plate. The bottom of the sloping bottom plate is provided with a rectangular opening near the left side of the storage box. The outside of the rectangular opening is provided with a rebar discharge port (1003a) extending to the periphery of the storage box. The outer surface of the rebar storage box (1003) above the rectangular opening is provided with a rebar output electric push rod (1003b) facing the rebar discharge port (1003a). The output end of the rebar output electric push rod (1003b) is connected to a rectangular baffle, the width of which matches the rectangular opening below. A steel bar transfer track (1005) is provided near the steel bar discharge port (1003a). One end of the steel bar transfer track (1005) is parallel to the direction of the steel bar discharge port (1003a), and the other end extends horizontally from the end of the steel bar discharge port (1003a) to between the electroslag pressure welding part (4000) and the steel bar feeding part (5000). The rebar transfer mechanism (1006) takes the rebar from both ends of the rebar discharge port (1003a), controls the rebar to rotate to the vertical direction, and transfers it between the electroslag pressure welding part (4000) and the rebar delivery part (5000) that need to be processed for use.

3. The pile head reinforcement straightening and intelligent welding extension device according to claim 2, characterized in that, The rebar transfer mechanism (1006) is composed of, from bottom to top, a rebar transfer electric trolley (1006a), a rebar transfer first electric push rod (1006b), a rebar transfer first rotary motor (1006c), a rebar transfer second electric push rod (1006d), a rebar transfer second rotary motor (1006e), a rebar transfer third electric push rod (1006f), and a rebar transfer electric gripper (1006g). The rebar transfer first electric push rod (1006b), the rebar transfer first rotary motor (1006c), and the rebar transfer third electric push rod (1006f) are all vertically oriented, while the rebar transfer second electric push rod (1006d) and the rebar transfer second rotary motor (1006e) are horizontally oriented.

4. The pile head reinforcement straightening and intelligent welding extension device according to claim 3, characterized in that, A monitoring matrix mounting plate (2004) is installed on the upper surface of the two first horizontal bars (2002) near the outermost position. It covers a rectangular area outside the entire main body, which is the main area for rebar straightening construction. The bottom surface of the monitoring matrix mounting plate (2004) is equipped with a downward-facing laser rangefinder matrix (2005). The surface flatness of the pile head rebar rectangular area is obtained by laser ranging. The shape of the rebar projection is monitored in the vertical direction to determine the degree of bending of the rebar. Then, the straightening unit (2100) below is used to straighten the rebar in real time.

5. The pile head reinforcement straightening and intelligent welding extension device according to claim 4, characterized in that, The welding filler unit (4200) has a welding auxiliary mechanism near its upper part. The welding auxiliary mechanism consists of a welding electric push rod (4201a), a welding rotary motor (4201b), and a welding clamp (4201c) connected to an electroslag pressure welding machine, from left to right. The welding clamp (4201c) faces the direction of the steel reinforcement construction and is in the same direction as the receiving electric push rod (4205a) below. The welding filler unit (4200) has a loading mechanism mounting seat (4202) near its lower part. The loading mechanism mounting seat (4202) has two loading tracks (4202a) on its front surface. The loading mechanism mounting seat (4202) has a longitudinal feeding mechanism mounting seat (4203) in the middle of its upper surface. The feeding mechanism mounting seat (4203) has a feeding track (4203a) on its right surface. Two flux box electric push rods (4204a) are connected to the upper loading track (4202a) via an electric trolley. The output end of the flux box electric push rod (4204a) is connected to the flux box clamping seat (4204b). The flux box clamping seat (4204b) consists of two extension seats located at both ends of the flux box (4204c). The flux box (4204c) automatically closes to the reinforcing bar or opens to detach from the reinforcing bar through a mechanical structure. The lower loading track (4202a) is connected outward in sequence by an electric trolley to a receiving electric push rod (4205a), a receiving rotary motor (4205b), and a receiving plate (4205c). The receiving plate (4205c) is a rectangular base plate with baffles around the perimeter, and a rectangular opening extends outward from the center. The end of the rectangular opening is a circular opening with a diameter matching the reinforcing bar. When electroslag pressure welding is performed above, the reinforcing bar passes through the rectangular opening and rests against the circular opening below. After welding is completed and the flux box (4204c) is opened, the waste electroslag falls and is directly caught by the receiving plate (4205c). A feeding rotary motor (4206a) is connected to the feeding track (4203a) via an electric trolley. The output end of the feeding rotary motor (4206a) is connected to a feeding box (4206b) that is in the same direction as the flux box (4204c). The feeding box (4206b) is shaped like a bucket and has a baffle at the end to prevent electroslag leakage when the material is tilted.

6. The pile head reinforcement straightening and intelligent welding extension device according to claim 5, characterized in that, The bar feeding section (5000) is arranged opposite to the electroslag pressure welding section (4000). It includes a bar feeding electric push rod (5001) and a bar feeding electric gripper (5002) connected to its output end. After receiving the bar on the bar transfer mechanism (1006), the height is adjusted and the bar is sent to the electroslag pressure welding section (4000).

7. A method for straightening and intelligently welding extension of pile head reinforcing bars using the device described in claim 6, characterized in that, The steps are as follows: S1. Initial Transfer of Rebar: When initial transfer of rebar is required, a sufficient quantity of rebar of suitable specifications is pre-stored in the rebar storage box (1003). When the robot approaches the construction site, the rebar output electric push rod (1003b) is controlled to retract the rectangular baffle at its output end, allowing a single rebar to slide down into the rebar discharge port (1003a) using the sloping bottom plate at the bottom of the rebar storage box (1003). At the same time, the rebar output electric push rod (1003b) is pushed out to block the rectangular opening and prevent excess rebar from sliding out. Subsequently, the rebar transfer electric trolley (1006a) of the rebar transfer mechanism (1006) is controlled to move to the leftmost or rightmost end of the rebar discharge port (1003a), and the first rebar transfer electric push rod (1006b) and the second rebar transfer electric push rod (1006d) are pushed out in coordination with the third rebar transfer electric push rod (1006f) and the rebar. The electric gripper (1006g) for transferring the reinforcing bar is located above the end of the reinforcing bar (1004). The first electric push rod (1006b) for transferring the reinforcing bar is retracted and the third electric push rod (1006f) for transferring the reinforcing bar is pushed out, so that the electric gripper (1006g) for transferring the reinforcing bar approaches the reinforcing bar. The electric gripper (1006g) for transferring the reinforcing bar is activated simultaneously to clamp the end of the reinforcing bar. The above mechanisms are retracted in the opposite way. At the same time, the first rotary motor (1006c) and the second rotary motor (1006e) for transferring the reinforcing bar are activated, so that the reinforcing bar (1004) which was originally horizontal is adjusted to a suitable horizontal position and rotated from horizontal to vertical, which is convenient for transportation and subsequent clamping. At this time, the single reinforcing bar is clamped. The reinforcing bar transfer mechanism (1006) is moved to the track between the electroslag pressure welding part (4000) and the reinforcing bar feeding part (5000) to wait for retrieval. S2. Rebar Straightening: When the pile head rebar straightening process is required, the robot is started to move until the monitoring matrix mounting plate (2004) covers the pile head rebar area. At this time, the straightening units (2100) on the first straightening track (2003) are controlled to move out of the monitoring matrix area. The laser rangefinder matrix (2005) is started to perform the first distance measurement on the pile head rebar to obtain the projection of each rebar and thus know the degree of bending of each rebar. At this time, the straightening units (2100) are controlled to move above the rebar that needs to be straightened. According to the actual degree of bending, multiple sets of straightening units (2100) can simultaneously straighten one rebar, or multiple sets of straightening units (2100) can straighten multiple sets of rebar simultaneously. Straightening is performed at this time; at this time, the straightening rotary motor (2103c) below it is lowered by the first straightening electric push rod (2103b), and the straightening rotary motor (2103c), the second straightening electric push rod (2103d), and the straightening electric gripper (2103e) are started to clamp one part of the steel bar to be straightened. Multiple straightening mechanisms hold the steel bars at different heights. According to the degree of bending, each second straightening electric push rod (2103d) is pushed out to straighten the steel bar. During the straightening process, the degree of bending of the steel bar can be monitored in real time by the laser rangefinder matrix (2005). After all the steel bars are straightened, each straightening unit (2100) is retracted into the inside of the main body and the steel bar head cleaning process is prepared. S3, Rebar Head Cleaning: When the rebar head cleaning process is required, control the robot to move so that the monitoring matrix area of ​​the cleaning part (3000) moves to cover the rebar area of ​​the pile head. Start the laser rangefinder matrix (2005) below to obtain the position of each rebar on the pile head. Control each group of cleaning units and cleaning mechanisms to move to the appropriate position so that there is a cleaning mechanism above each rebar. At this time, push down the cleaning rotary motor (3001c) and the annular steel wire ring (3001d) through the cleaning electric push rod (3001b) so that the rebar head is inserted into the hollow area in the middle of the annular steel wire ring (3001d) and the outer periphery of the rebar head is in contact with the annular steel wire ring (3001d). Start the cleaning rotary motor (3001c) and its output shaft rotates to drive the annular steel wire ring (3001d) to rotate, thereby allowing the annular steel wire ring (3001d) to rub and clean the rebar head to remove debris. After cleaning is completed, control each cleaning unit to return to the inside of the main body to prepare for the electroslag pressure welding process. S4. Electroslag Pressure Welding: When electroslag pressure welding is required, the robot is first moved until the electroslag pressure welding section (4000) and the rebar feeding section (5000) cover the pile head rebar area in the external extension area of ​​its main body. At this time, the rebar feeding mechanism of the rebar feeding section (5000) is moved to the vicinity of the end of the rebar transfer track (1005). By controlling the rebar feeding electric gripper (5002), the rebar feeding electric push rod (5001) and the rebar transfer mechanism (1006) that clamps the rebar, the rebar is clamped by the rebar feeding mechanism, and the height of the rebar is adjusted by the track. After reaching the appropriate height, the rebar feeding electric push rod (5001) is pushed out, so that the rebar moves to the clamp. Within the clamping area of ​​the hook-shaped clamping head (4103) on the holding pressure unit (4100), the clamping electric push rod (4104) on it is driven to push out the end clamping member to clamp the upper reinforcing bar, retract the reinforcing bar feeding mechanism, and prepare for electroslag pressure welding; at this time, the clamping pressure unit (4100) carrying the upper reinforcing bar is moved to the upper part of the reinforcing bar to be constructed by the first electroslag pressure welding track (4006), and the clamping pressure unit (4100) is controlled to descend by the second electroslag pressure welding track (4007b) until the lower hook-shaped clamping head (4103) covers the pile head reinforcing bar, and then the clamping electric push rod (4104) on the lower hook-shaped clamping head (4103) is pushed out. The lower reinforcing bar is fixed by the clamping parts and the hook-shaped clamping head (4103). At this time, the upper and lower reinforcing bars are aligned. Then, the lifting and pressing electric push rod (4102d) is controlled to lower the upper hook-shaped clamping head (4103), so that the upper reinforcing bar contacts the lower reinforcing bar. At this time, the welding filler unit (4200) is controlled to move to the vicinity of the reinforcing bar. The welding filler unit (4200) is controlled to move to a suitable position on the second track (4007b) of electroslag pressure welding, so that the height of the flux box (4204c) corresponds to the joint of the reinforcing bar. Then, the two sets of electric trolleys on the upper loading track (4202a) and the flux box electric push rod (4204a) cooperate to push out the flux box. (4204c) and fix it closed and attached to the rebar joint. At this time, the flux box (4204c) can be filled with material. The electric trolley on the filling track (4203a) is controlled to bring the filling box (4206b) to the top of the flux box (4204c). The filling rotary motor (4206a) controls the tilt angle of the filling box (4206b) to fill the flux box (4204c) with material. After completion, the welding electric push rod (4201a) and the welding rotary motor (4201b) rotate and push out the welding clamp (4201c) so that it hangs above the rebar. At the same time, the receiving electric push rod (4205a) is controlled to push out the receiving plate (4205c) so that it can be inserted into the rebar.The electroslag pressure welding machine is started, and the hook-shaped clamping head (4103) above is pushed down by the lifting and pressure-applying electric push rod (4102d) to perform pressure welding. After completion, the flux box (4204c) and the above mechanisms are opened and retracted, and the waste material falls into the receiving plate (4205c). When the welding filler unit (4200) moves back to the top of the waste electroslag recycling box (4003), the receiving rotary motor (4205b) is started to rotate the receiving plate (4205c), and the waste material falls into the waste electroslag recycling box (4003) for recycling. At this point, the entire extended electroslag pressure welding process is completed.

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