Customizable building robot flexible production / disassembly line and method

Abstract

The invention relates to the technical field of building engineering, and particularly discloses a customizable building robot flexible production / disassembly line and method.The customizable building robot flexible production / disassembly line comprises a production workshop part which is a main body part of the whole production line and used as a robot production and disassembly platform; the equipment mounting part is arranged in the production workshop part and used for transferring the robots and the parts, producing and disassembling the robots and bearing constructors; the part storage part is arranged on the outer side of the production workshop part and used for supplying parts to robot production links in the production line, storing the parts detached from the production line and automatically supplying the parts in cooperation with the external transfer part; and the transfer part is connected into the production workshop part from the periphery and used for carrying the robots produced in the workshop, conveying the waste robots to be repaired into the workshop for disassembly and part supply. The building robot production in a large range is covered, and the building robot can be disassembled, modified and reconstructed.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering, and in particular to a customizable flexible production / disassembly line for a construction robot, and also to a customizable flexible production / disassembly method for a construction robot. Background Art

[0002] At present, the construction industry has a low degree of standardization. The applicability and compatibility of construction robots in different projects are more prominent. There are many types of robots on the market, but they are not compatible with each other. If construction companies want to purchase different types of robots for construction, they need to deal with many different robot protocols. Each robot may have a different operating system. It is very difficult to integrate them into a system for unified scheduling and monitoring. At the construction site, the collaboration between robots and workers is equally important. The different control systems of various robots require workers to learn many different control methods at the same time, which requires a high level of technical skills and increases the construction cost. The fundamental reason for many robot operating systems is that they are produced and debugged by different manufacturers using different production lines and technologies. Each one is a separate category. Therefore, a flexible production / disassembly line for construction robots of various categories is needed. It can produce different categories of construction robots while ensuring that the control systems and protocols of various robots match each other, which greatly improves the efficiency of collective scheduling of subsequent construction and saves the communication cost of different robot construction. Summary of the invention

[0003] The purpose of the present invention is to provide a customizable flexible production / disassembly line for construction robots, which can be used to produce robots in a production workshop. It uses a number of alloy rods, rails, electric trolleys, winches, and equipment mounting seats to achieve three-dimensional printing of construction robots. The equipment mounting unit cooperates with the lifting unit, parts storage unit, and parts transfer trolley. Customized production can be performed for robots of various shapes and functions. It can not only assemble new robots and produce construction robots from scratch, but also disassemble, modify, and rebuild construction robots that need to be scrapped, repaired, disassembled, and repaired to produce new construction robots. The workshop flexibly covers a wide range of construction robot production.

[0004] Another object of the present invention is to provide a customizable flexible production / disassembly method for construction robots, which can be directly applied to the existing production and construction of construction robots. The robots produced by this workshop can be centrally scheduled through the same control system, because the same type of materials can be selected during production, and the production personnel use the same workshop to carry out the same system design. Robots of different types, functions, shapes, and sizes can be assembled through various identical motors, push rods, and equipment, which effectively saves the research and development costs and debugging costs of construction robots, and makes robot repairs more cost-effective, with good application prospects.

[0005] To further achieve the above object, the present invention adopts the following technical solutions:

[0006] A customizable flexible production / disassembly line for construction robots, including:

[0007] The production workshop is the main part of the entire production line and is used as a production and disassembly platform for robots;

[0008] The equipment installation part is arranged inside the production workshop part and is used for transporting robots and parts, producing and disassembling robots, and carrying construction personnel;

[0009] The parts storage part is arranged outside the production workshop part, and is used to supply parts to the robot production link inside the production line, store the parts disassembled in the production line, and cooperate with the external transfer part to automatically replenish parts;

[0010] The transfer part is connected to the production workshop from the outside and is used to transport the robots produced by the workshop and send the scrapped robots and those to be repaired to the workshop for disassembly and parts replenishment.

[0011] Optionally, the production workshop part includes a workshop floor as a main body, the workshop floor is a rectangular floor, four vertical alloy vertical rods are installed at the four corners, located on both sides of the long side of the workshop floor, the bottom and the inner side of the top of the two alloy vertical rods are installed with first track mounting rods, the track on the first track mounting rod at the bottom faces upward, and the track on the first track mounting rod at the top faces downward, and the two sets of tracks correspond to each other, and are used to install the first vertical rods by installing vertical equipment through an electric trolley;

[0012] A second track mounting rod is also installed on the top of the first track mounting rod and the alloy vertical rod, and the track on the second track mounting rod faces upward; two alloy cross bars are installed at both ends of the two second track mounting rods, and the installation direction of the alloy cross bars corresponds to the two sides of the short side of the workshop floor, and a fourth track mounting rod is installed on the lower side of the middle of the two alloy cross bars, which is in the same direction and at the same height as the second track mounting rod, and the fourth track mounting rod is provided with tracks on the upper and lower surfaces, facing upward and downward respectively; a third track mounting rod is installed on the workshop floor at a corresponding position below the fourth track mounting rod, and the track direction of the third track mounting rod is vertically upward, corresponding to the downward track of the fourth track mounting rod, and is used for installing the equipment to install the second vertical rod.

[0013] Furthermore, a conveyor belt is installed on the workshop floor between the first track mounting rod and the third track mounting rod, and there are two conveyor belts installed in total, which are distributed between the first track mounting rod and the third track mounting rod and between the third track mounting rod and the first track mounting rod. At the same time, a partition baffle is provided on both sides of each of the conveyor belts on the workshop floor, with a total of four partition baffles, which separate the area between the conveyor belt and the track. The separated area close to the first track mounting rod or the third track mounting rod is an auxiliary production area for construction personnel.

[0014] Optionally, the production workshop also includes robot bodies required to be produced by the entire production line.

[0015] Optionally, the equipment installation portion includes a first vertical rod for equipment installation installed between the rails of the upper and lower first rail installation rods facing each other, and also includes a second vertical rod for equipment installation installed between the upper end rail of the third rail installation rod and the bottom rail of the fourth rail installation rod;

[0016] A vertical track is provided on the same side of the first vertical rod for equipment installation and the second vertical rod for equipment installation. At the same time, a first winch fixing platform is provided on the other side of the top of the first vertical rod for equipment installation and the second vertical rod for equipment installation, and a winch is provided on the first winch fixing platform; a horizontal equipment installation cross frame is provided on the tracks of the two first vertical rods for equipment installation and the second vertical rod for equipment installation on the same side, and the equipment installation cross frame is installed on the tracks of the first vertical rod for equipment installation and the second vertical rod for equipment installation through an electric trolley;

[0017] The equipment installation horizontal frame is provided with lifting rings on both sides of the top, and the winch provided on the first winch fixing platform is connected to the lifting rings below it through a lifting rope hook; the equipment installation horizontal frame is composed of an upper and lower rails, and the upper and lower rails are connected by vertical rods at both ends to form a horizontal rail group, and the horizontal rail group is installed on the rails of the equipment installation first vertical rod and the equipment installation second vertical rod through the end electric trolley; the equipment mounting seat is installed on the equipment installation horizontal frame through the electric trolley, and the equipment mounting seat can move horizontally on the track of the equipment installation horizontal frame.

[0018] Furthermore, the equipment mounting seat is L-shaped, inverted L-shaped or ┝-shaped, wherein:

[0019] When the equipment mounting seat is L-shaped, it is used to install upward construction equipment, or when the equipment mounting seat is not installed with equipment, it is used to directly carry the robot body so that the robot body can switch its position between the two conveyor belts; if the two conveyor belts are divided into production and disassembly, the L-shaped equipment mounting seat is used to act as a porter, allowing the robot body to quickly switch between production and disassembly. When the robot body is hoisted into the air for construction installation or disassembly, it is difficult for construction workers to reach it, that is, the construction workers can directly sit on the L-shaped equipment mounting seat; or

[0020] When the equipment mounting base is in an inverted L shape, the equipment is directly mounted below the horizontal plate at the top of the equipment mounting base to achieve vertical downward construction; or

[0021] When the equipment mounting base is in a ┝ shape, it is used to provide a larger construction coverage area to ensure that the equipment mounting base covers the upper and lower construction areas.

[0022] Furthermore, two first vertical rods for installing the equipment, one second vertical rod for installing the equipment, one horizontal frame for installing the equipment, two lifting rings, several sets of equipment mounting seats, one first hoist fixing platform, and two hoists constitute an equipment mounting unit; two opposite equipment mounting units are arranged on the track between the first track mounting rod and the third track mounting rod for cooperating with each other in transportation and construction;

[0023] A plurality of second winch fixing platforms are provided between the rails at the top of the second rail mounting rod and the fourth rail mounting rod. The second winch fixing platforms are installed on the rails through an electric trolley. Two winches are provided on the second winch fixing platforms for synchronously lifting multiple groups of materials. The two winches are respectively located above two conveyor belts. A wire-paying opening is provided on the second winch fixing platform at the lower part of the winch. The hoisting rope of the winch passes through the wire-paying opening and extends to above the conveyor belt below. A hook is connected to the end of the hoisting rope. Each second winch fixing platform and the equipment thereon form a lifting unit.

[0024] Optionally, the parts storage part includes a plurality of groups of parts storage units arranged on both sides of the production workshop part, each group of the parts storage units consists of a parts storage horizontal frame installed between two alloy vertical bars at both ends of the long side of the workshop floor and a plurality of parts storage boxes installed on the parts storage horizontal frame, the parts storage horizontal frame includes four long bars arranged up and down and inside and outside, the four long bars are provided with parts storage rails, the parts storage rails on the two long bars at the bottom face upwards, and the parts storage rails on the two long bars at the top face downwards, and a plurality of parts storage boxes are installed between the parts storage rails arranged up and down by an electric trolley;

[0025] The parts storage box is provided with openings at both ends, and a storage pull cover is provided at the outer opening. The storage pull cover can be opened and closed. When opened, materials can be added to the parts storage box by external equipment. When closed, the parts storage box is used to store materials waiting for internal use.

[0026] Optionally, the transfer part includes a body transfer trolley for storing the robot body and a parts transfer trolley for transferring materials; the body transfer trolley is mainly composed of a trolley bottom plate, a roller is installed at the lower end of the trolley bottom plate, the middle of the trolley bottom plate is opened and a plurality of rollers are installed in the opening, and the rotating shaft of the roller passes through the trolley bottom plate and is connected to a steering gear installed on the side of the trolley bottom plate through a coupling;

[0027] The parts transfer trolley is composed of a rectangular base plate as the main body, a plurality of universal wheels are installed at the lower end of the rectangular base plate, a transfer box is installed on one side of the rectangular base plate, and a transfer electric push rod mounting seat is installed on the other side of the rectangular base plate, a transfer electric push rod facing the transfer box is installed on the transfer electric push rod mounting seat, and the output shaft of the transfer electric push rod is connected to a push plate; an upward electric push rod is provided at the bottom end of the transfer box, and the output shaft of the electric push rod is connected to a base plate, and the parts are stored above the base plate, which is used to push the base plate to the top of the transfer box through the electric push rod, and then the transfer electric push rod pushes the parts horizontally into the parts storage box for a second time.

[0028] Accordingly, the present invention also claims a flexible production / disassembly method according to the aforementioned flexible production / disassembly line, comprising the following steps:

[0029] S1. Production and repair: First, the types of robots to be produced on the production line are divided into two types. The first type is the direct assembly of parts from scratch, which does not require a body transfer cart. The parts in the parts storage part are directly assembled in the production workshop. The first type proceeds to step S2-step S4 for construction; the second type is the reproduction of preliminary production materials, which is the disassembly and reproduction of other robots, robot repair, and robot scrap material recycling and reproduction, and it proceeds to step S5-step S6.

[0030] S2. Pre-preparation of materials and equipment: First, configure the corresponding parts storage unit on the side of the production workshop according to actual needs. The parts storage unit is equipped with a parts storage box, and the parts are transferred to the parts storage box through the electric push rod by the parts transfer trolley. Close the storage cover of all parts storage boxes. Configure the corresponding number of lifting units on the top of the production workshop according to actual needs, equip two sets of equipment installation units with several sets of preset equipment installation seats, and install the required equipment on the equipment installation seats, including electric drills, screw machines, and robotic arms;

[0031] S3, robot installation and production: the background of the construction method below is set as low-altitude construction, so the construction personnel in the auxiliary production area cooperate with the pulled down lifting rope and hook to take out the parts in the parts storage box; if high-altitude construction is required, the mechanical arm installed on the equipment mounting seat is used to rise to a high place, clamp the lifting rope and hook to connect with the parts in the high-altitude parts storage box and take them out; the equipment mounting seats and the equipment on the same equipment mounting cross frame, and the equipment mounting seats and the equipment on different groups of equipment mounting cross frames cooperate with each other to complete the robot production; for the production of robots at low places, the robot is placed on the conveyor belt for mobile construction, and for the production of robots at high places, the robot is lifted by the lifting unit for construction, or after being lifted by the lifting unit, several groups of L-shaped equipment mounting seats on both sides are controlled to move closer to form a bottom support seat to support the robot, and then other equipment mounting seats are used for installation and construction;

[0032] S4, robot output: the completed robot is directly placed on the conveyor belt, and the body transfer cart is controlled to move to the end of the production workshop. One end of the body transfer cart's trolley bottom plate is close to the end of the conveyor belt, and the conveyor belt is controlled to drive. The robot part is moved to the trolley bottom plate. When the robot body is partially transferred to the body transfer cart by the conveyor belt, the steering gear is driven to drive the roller on it to rotate. The rotation of the roller drives the body to move horizontally on the roller, and then all of them are moved to the body transfer cart. The steering gear is stopped to realize the robot's self-collection process from the conveyor belt to the body transfer cart;

[0033] S5. Transfer of scrapped bodies: When the body transfer cart carries the scrapped, modified, disassembled, or reworked robot or robot main parts to the production workshop, the servo drives the roller to rotate in the opposite direction, and the robot or robot main parts are directly pushed into the conveyor belt, and then the conveyor belt relays the body, realizing the self-storage process of the robot from the body transfer cart to the conveyor belt;

[0034] S6. Processing and reproduction of waste bodies: If the robot is small, the two conveyor belts are divided into disassembly and re-production lines. One side can use the same moving method as step S3 and the opposite construction method to disassemble the waste robot parts. The reused material parts are transferred to another production line for direct assembly, or stored in a parts storage box by workers and robotic arms waiting for use. The other production line produces robots in the same way as step S3. For larger robots, they are completely disassembled on the two conveyor belts and then completely reassembled to produce new robots. After production is completed, the robot output and transportation are completed through step S4.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. The production workshop designed by the present invention can not only assemble new robots and produce construction robots from scratch, but also disassemble, modify and rebuild construction robots that need to be scrapped, repaired, disassembled and returned for repair, and produce new construction robots. The workshop flexibly covers a wide range of construction robot production, which makes it have strong adaptability and a large range of applications, saving the manpower and material resources required for different robots to have different production systems.

[0037] 2. The robots designed in the present invention can perform collaborative work, and the robots produced by the workshop can be centrally scheduled through the same control system. Because the same type of materials can be selected during production, and the production personnel use the same workshop to perform the same system design, robots of different types, functions, shapes, and sizes can be assembled through various identical motors, push rods, and equipment, which effectively saves the R&D cost and debugging cost of construction robots, and makes robot repairs more cost-effective, with good application prospects.

[0038] 3. Although the equipment installation part of the present invention is simple, the structure they constitute is not simple. The three-dimensional printing of the construction robot is realized by only a number of alloy rods, rails, electric trolleys, winches, and equipment mounting seats. The equipment installation unit is coordinated with the lifting unit, parts storage unit, and parts transfer trolley. Robots of various shapes and functions can be customized, effectively saving the robot production costs of construction workers.

[0039] 4. The equipment mounting seat designed by the present invention has a variety of optional shapes. When the equipment mounting seat there is L-shaped, it can be used to install upward construction equipment, such as an upward drilling rig, a screw machine, or horizontal equipment. The vertical force is applied to the horizontal plate of the L-shaped equipment mounting seat, which is more stable. At the same time, when no equipment is installed on the horizontal plate of the equipment mounting seat, it can be directly used to carry the robot body and be used for the position conversion of the robot body between the two conveyor belts. Moreover, when the robot body is hoisted into the air for construction, installation or disassembly, it is difficult for construction personnel to reach it. They can directly sit on the L-shaped equipment mounting seat. Of course, a safety rope needs to be added here. The safety rope can be replaced by an extra rope separated by the upper winch. Then the equipment mounting seat is controlled to be close to the robot body for construction personnel to sit in the air for construction. Multiple sets of equipment mounting seats can be installed on the horizontal frame, that is, while the construction personnel are working, they can sit on an equipment mounting seat to receive construction materials and equipment transported from another equipment mounting seat for quick construction, or operate Control the equipment on another set of equipment mounting seats for construction; and when the equipment mounting seat is designed as an inverted L-shaped device mounting seat, the equipment can be directly fixed under the horizontal plate at the top of the L-shaped device mounting seat. At this time, vertical downward construction can be realized, such as a drilling machine drilling vertically downward, which is more convenient to operate. The horizontal construction needs can also be covered here. At the same time, additional fixing mechanisms such as cable ties can be added to the vertical plate area of ​​the L-shaped device mounting seat to bind the device, so that the force is more stable; of course, in addition to the above-mentioned positive L and inverted L-shaped device mounting seats, there is also a mounting seat shape that takes both into account. This type is ┝-shaped, that is, the L-shaped horizontal plate is neither on the top nor on the bottom, but in the middle. This design method effectively ensures that the equipment mounting seat covers the upper and lower construction areas. This type better evens out various construction needs, but this type has installation space both above and below, so that the upper and lower installation spaces are reduced. There are certain restrictions on the installation of larger equipment. This shape can be selected when it is necessary to save space and provide a larger construction coverage.

[0040] 5. The height of the parts storage frame and the height of the parts storage box of the parts storage unit designed by the present invention can be adjusted according to actual needs. For example, if the parts material is higher and larger, a higher parts storage unit group can be pre-produced to occupy more height space of the alloy vertical rod. At the same time, the width of the parts storage box on the parts storage track can also be adjusted according to actual needs. The number of boxes on the parts storage track can be freely combined and arranged in number and size because each box can be moved on the track to meet different material storage needs. For example, the main body is larger and requires a separate large box for storage. The tires are medium and can be stacked, so they can be placed in a medium box. The screws are smaller and can be stored in a small box in large quantities. Considering safety, larger and heavier parts storage boxes can be set at a lower position, and vertical support rods can be added to the outside of the parts storage frame. The slide rails and stacked parts storage boxes can also allow the materials to move with the construction site, so that there is no need to go back and forth to retrieve materials during the construction process, saving construction time. At the same time, it can also be used to store reusable parts obtained by dismantling waste bodies, which is more environmentally friendly and saves money.

[0041] 6. The body transfer trolley and parts transfer trolley designed by the present invention can realize the quick self-storage and retrieval of the robot body and parts through the upper mechanism design, which is efficient, convenient, low-cost and low-energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0043] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0044] Figure 2 This is a schematic diagram of the overall structure of the production workshop of the present invention;

[0045] Figure 3 This is a schematic diagram of the overall structure of the installation part of the device of the present invention;

[0046] Figure 4 It is a schematic diagram of the overall structure of the parts storage part and the transfer part of the present invention.

[0047] Description of Reference Numerals :

[0048] 1000-Production workshop part:

[0049] 1001-workshop floor; 1002-conveyor belt; 1003-partition baffle; 1004-robot body; 1005a-first track mounting rod; 1005b-second track mounting rod; 1005c-third track mounting rod; 1005d-fourth track mounting rod; 1006-alloy vertical rod; 1007-alloy horizontal rod;

[0050] 2000-Equipment Installation Section:

[0051] 2001a-first vertical pole for equipment installation; 2001b-second vertical pole for equipment installation; 2002-horizontal frame for equipment installation; 2003-lifting ring; 2004-equipment mounting seat; 2005-first winch fixing platform; 2006-winch; 2007-second winch fixing platform; 2007a-line release opening; 2007b-lifting rope; 2007c-hook;

[0052] 3000-Parts Storage Section:

[0053] 3001-parts storage rack; 3002-parts storage track; 3003-parts storage box; 3004-storage cover;

[0054] 4000-Transfer part:

[0055] 4100-machine body transfer trolley; 4101-drum; 4102-servo engine;

[0056] 4200-parts transfer trolley; 4201-transfer box; 4202-transfer electric push rod mounting base; 4203-transfer electric push rod. DETAILED DESCRIPTION

[0057] In order to facilitate ordinary technicians in the field to understand and implement the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation examples. It should be understood that the implementation examples described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0058] A customizable flexible production / disassembly line for construction robots, consisting of Figure 1As shown, it includes a production workshop part 1000 as the main body, an equipment installation part 2000 installed inside the production workshop part 1000, a parts storage part 3000 installed outside the production workshop part 1000, and a transfer part 4000 which can be connected to the production workshop part 1000 from the periphery; wherein: the production workshop part 1000 is the main part of the entire production line, which is mainly used as a production and disassembly platform for robots, and can provide support for various construction parts thereon, wherein the track can transport the robot within the platform and cooperate with various construction parts to complete production and disassembly; the equipment installation part 2000 is responsible for providing the actuation capability for production and disassembly, and carries the equipment installation seat thereon through a moving method similar to 3D printing It can be assembled arbitrarily so that it has the ability to transfer robots and parts, produce and disassemble robots, carry construction personnel, etc.; the main function of the parts storage part 3000 is to supply parts to the robot production link within the production line, and it can also store the parts disassembled from the production line. At the same time, it can also cooperate with the external transfer part 4000 for automatic parts replenishment; the transfer part 4000 has the ability to move robots produced by the workshop, and it can also automatically send scrapped robots and robots to be repaired to the workshop for disassembly and other work. In addition, the transfer part 4000 also has the ability to replenish parts. After the prefabricated parts are transported to the vicinity of the workshop, the parts can be directly sent to the parts storage part 3000 through the parts transfer cart 4200 to wait for use.

[0059] Production workshop part 1000, composed of Figure 2As shown, it includes a workshop floor as a main body, the workshop floor is a rectangular floor, and four vertical alloy vertical rods 1006 are installed at the four corners, which are located on both sides of the long side of the workshop floor. The bottom and the inner side of the top of the two alloy vertical rods 1006 are installed with first track mounting rods 1005a, the track on the first track mounting rod 1005a located at the bottom faces upward, and the track on the first track mounting rod 1005a located at the top faces downward, and the two sets of tracks correspond to each other, so that the vertical equipment can be installed by an electric trolley to install the first vertical rod 2001a; located on both sides of the long side of the workshop floor, in addition to the first track mounting rod 1005a installed on the top of the two alloy vertical rods 1006, the first track mounting rod 1005a and the alloy vertical rod A second track mounting rod 1005b is also fixedly installed on the top of 1006, and the track on the second track mounting rod 1005b faces upward; two alloy cross bars 1007 are installed at both ends of the two second track mounting rods 1005b, and the installation direction of the alloy cross bars 1007 corresponds to the two sides of the short side of the workshop floor 1001, and a fourth track mounting rod 1005d with the same direction and height as the second track mounting rod 1005b is installed on the lower middle side of the two alloy cross bars 1007, and the fourth track mounting rod 1005d is provided with tracks on both the upper and lower surfaces, facing upward and downward respectively; a third track mounting rod 1005d is installed on the workshop floor 1001 at a corresponding position below the fourth track mounting rod 1005d. 005c, the track direction of the third track mounting rod 1005c is vertically upward, corresponding to the downward track of the fourth track mounting rod 1005d, and is used to install the second vertical rod 2001b of the equipment; a conveyor belt 1002 is installed on the workshop floor 1001 between the first track mounting rod 1005a and the third track mounting rod 1005c, and there are two conveyor belts installed, distributed between the first track mounting rod 1005a and the third track mounting rod 1005c and the third track mounting rod 1005c and the first track mounting rod 1005a, and at the same time, a partition baffle 1003 is provided on both sides of each conveyor belt on the workshop floor 1001, with a total of four partition baffles 1003, which separate the conveyor belt and the workshop floor 1001. The area between the tracks is separated, and the separated area close to the first track mounting rod 1005a or the third track mounting rod 1005c is a construction personnel auxiliary production area, where workers can walk around and debug equipment, so there are four construction personnel auxiliary production areas; the production workshop part 1000 also includes the robot body 1004 required for the production of the entire production line. Usually, the robot body 1004 is a robot chassis, but the robot body 1004 can also cope well with the installation of various equipment on the robot, because the production line can be customized according to the actual production robot, similar to a 3D printer, and different equipment required for different robot production is transported to any corner of the production line, and then installed and constructed;In fact, in addition to being a flexible production line for robots, this production line can also be used as a flexible disassembly line for intelligent robots. If such robots need to be scrapped, or their functions need to be changed or reworked, they can be directly placed in this production line for reprocessing, or disassembly and material storage. It should be noted that the conveyor belts, winches, electric push rods, steering gears, etc. mentioned in this article are all common parts, and their prefixes are only expressions of functional differences. ;

[0060] Equipment installation part 2000, by Figure 3As shown, it includes a first vertical rod 2001a for equipment installation installed between the opposing tracks of the upper and lower first track mounting rods 1005a, and also includes a second vertical rod 2001b for equipment installation installed between the upper track of the third track mounting rod 1005c and the bottom track of the fourth track mounting rod 1005d; vertical tracks are arranged on the same side of the first vertical rod 2001a for equipment installation and the second vertical rod 2001b for equipment installation, and at the same time, a first winch fixing platform 2005 is arranged on the other side near the top of the first vertical rod 2001a for equipment installation and the second vertical rod 2001b for equipment installation, and a winch 2006 is arranged on the first winch fixing platform 2005; a horizontal equipment installation cross frame 2002 is arranged on the tracks of the two first vertical rods 2001a for equipment installation and the second vertical rod 2001b for equipment installation on the same side, and the equipment installation cross frame 2002 is installed on the tracks of the first vertical rod 2001a for equipment installation and the second vertical rod 2001b for equipment installation by an electric trolley, but the equipment installation cross frame The main driving force for the lifting of the frame 2002 is still the lifting of the winch, because it needs to bear a large vertical force; the top two sides of the equipment installation horizontal frame 2002 are provided with lifting rings 2003, which refer to the center positions of the two areas formed between the two equipment installation first vertical rods 2001a and the one equipment installation second vertical rod 2001b, which position also corresponds to the center position of the conveyor belt 1002; the winch 2006 on the first winch fixing platform 2005 is connected to the lifting ring 2003 below it through a lifting rope hook, and two winches are also arranged on the first winch fixing platform 2005, close to the position of the lifting ring 2003; the equipment installation horizontal frame 2002 is composed of two upper and lower tracks, which are fixedly connected by vertical rods at both ends to form a horizontal track group, so that the equipment installation seat 2004 on the track of the horizontal track group is more stably stressed, and the horizontal track group is fixed to the track of the equipment installation first vertical rod 2001a and the equipment installation second vertical rod 2001b through the end electric trolley;The equipment mounting seat 2004 is installed on the equipment mounting cross frame 2002 through an electric trolley. The equipment mounting seat 2004 can move horizontally on the track of the equipment mounting cross frame 2002. The equipment mounting seat 2004 can be set to an L shape or an inverted L shape. The purpose of designing this type is that when it is an L shape, it can be used to install upward construction equipment, such as an upward drilling rig, a screw machine, or horizontal equipment. The vertical force is applied to the horizontal plate of the L shape, which is more stable. At the same time, when no equipment is installed on it, it can be directly used to carry the robot body and used for the position conversion of the robot body between the two conveyor belts. If this The conveyor belt at the upper part is divided into two conveyor belts, one for production and the other for disassembly. The L-shaped equipment mounting seat 2004 can act as a porter, allowing the robot body 1004 to quickly switch between production and disassembly. Moreover, when the robot body is hoisted into the air for construction installation or disassembly, it is difficult for construction workers to reach it. That is, the construction workers can directly sit on the L-shaped equipment mounting seat 2004. Of course, a safety rope needs to be added here. The safety rope can be replaced by an extra rope from the upper winch. Then the equipment mounting seat 2004 is controlled to be close to the robot body for construction workers to sit in the air for construction. Multiple sets of equipment mounting cross frames 2002 can be installed The equipment mounting seat 2004 can be used by construction workers to sit on one equipment mounting seat 2004 while they are working, and receive construction materials and equipment from another equipment mounting seat 2004 for quick construction, or operate equipment on another set of equipment mounting seats 2004 for construction; and when the equipment mounting seat 2004 is designed as an inverted L-shaped device, the device can be directly fixed under the horizontal plate on the top of the equipment mounting seat 2004, and vertical downward construction can be achieved at this time, such as a drilling machine drilling vertically downward, which is more convenient to operate. This can also cover the horizontal construction needs, and at the same time, in the vertical plate area of ​​the inverted L-shaped device Additional fixing mechanisms such as cable ties can also be added to bind the device to make it more stable. Of course, in addition to the above-mentioned positive L and inverted L-shaped device mounting seats 2004, there is also a mounting seat shape that takes both into account, which is a ┝-shaped one, that is, the L-shaped horizontal plate is neither at the top nor at the bottom, but in the middle. This design method effectively ensures that the device mounting seat covers the upper and lower construction areas, and this type better evens out various construction needs. However, since there is installation space at the top and bottom, the installation space at the top and bottom is reduced, which has certain limitations on the installation of larger equipment. This shape can be selected when it is necessary to save space and provide a larger construction coverage range.The above-mentioned two first equipment installation vertical rods 2001a, one equipment installation second vertical rod 2001b, one equipment installation horizontal frame 2002, two lifting rings 2003, several groups of equipment installation seats 2004, one first winch fixing platform 2005, and two winches 2006 constitute an equipment installation unit. Two opposite equipment installation units are arranged on the track between the first track installation rod 1005a and the third track installation rod 1005c, which are used to cooperate with each other in transportation and construction; a second winch fixing platform 2007 is arranged between the tracks at the top of the second track installation rod 1005b and the fourth track installation rod 1005d, and the second winch fixing platform 2007 is installed on the track by an electric trolley, and the second winch fixing platform 2007 is provided Two winches, which are respectively located above the two conveyor belts 1002. A wire-laying opening 2007a is provided on the second winch fixed platform 2007 at the lower part of the winch. The hoisting rope 2007b of the winch can pass through the wire-laying opening 2007a and extend to the upper part of the conveyor belt 1002 below. Then, the hoisting rope 2007b is hooked on the robot body 1004 through the hook 2007c connected to the end of the hoisting rope 2007b. Then, the robot body 1004 can be lifted by starting the winch. Several groups of second winch fixed platforms 2007 can be set on the tracks at the top of the second track mounting rod 1005b and the fourth track mounting rod 1005d for synchronously lifting multiple groups of materials. Each second winch fixed platform 2007 and the equipment thereon form a lifting unit. ;

[0061] Parts storage section 3000, consisting of Figure 4As shown, it includes several groups of parts storage units arranged on both sides of the production workshop part 1000, each group of parts storage units consists of a parts storage horizontal frame 3001 installed between two alloy vertical rods 1006 at both ends of the long side of the workshop floor and several parts storage boxes 3003 installed on the parts storage horizontal frame 3001, the parts storage horizontal frame 3001 includes four long rods arranged up and down, inside and outside, each long rod is provided with a parts storage track 3002, the parts storage tracks 3002 on the two long rods at the bottom are facing upwards, and the parts storage tracks 3002 on the two long rods at the top are facing upwards. The parts storage track 3002 faces downward, and the parts storage box 3003 is installed between the four parts storage tracks 3002 by an electric trolley. The parts storage box 3003 is provided with openings at both ends, and a storage pull cover 3004 is provided at the outer opening. The storage pull cover 3004 can be opened and closed. When it is opened, materials can be added to the inside of the parts storage box 3003 by external equipment. When it is closed, the parts storage box 3003 is used to store materials for internal use; the number of groups of the parts storage unit on the single-sided alloy vertical rod 1006 can be adjusted according to actual conditions. It should be noted that The height of the parts storage horizontal frame 3001 and the height of the parts storage box 3003 of the parts storage unit can be adjusted according to actual needs. For example, if the parts material is higher and larger, a higher parts storage unit group can be produced in advance to occupy more height space of the alloy vertical rod 1006. At the same time, the width of the parts storage box 3003 on the parts storage track 3002 can also be adjusted according to actual needs. The number and size of the parts storage boxes 3003 on the parts storage track 3002 can be adjusted according to actual needs. Since each parts storage box 3003 can be moved on the parts storage track 3002, the number and size of the parts storage boxes 3003 can be adjusted according to actual needs. They can be freely combined and arranged to meet different material storage needs. For example, if the main body is large, a separate large box is needed for storage; if the tires are medium-sized and can be stacked, they can be placed in a medium-sized box; if the screws are small, they can be stored in a small box in large quantities. Considering safety, larger and heavier parts storage boxes 3003 can be set at a lower position, and vertical support rods can be added to the outside of the parts storage cross frame 3001; setting up the slide rails and stacked parts storage boxes can also allow materials to move with the construction site, so that there is no need to go back and forth to fetch materials during the construction process, saving construction time.

[0062] Transfer part 4000, by Figure 4As shown, it includes a body transfer trolley 4100 for storing the robot body and a parts transfer trolley 4200 for transferring materials; the body transfer trolley 4100 is mainly composed of a trolley bottom plate, a roller is installed at the lower end of the trolley bottom plate, the middle part of the trolley bottom plate is opened and a plurality of rollers 4101 are installed in the opening, and the rotating shaft of the roller 4101 passes through the trolley bottom plate and is connected to the steering gear 4102 installed on the side of the trolley bottom plate through a coupling; the purpose of setting up this structure is that when a heavier robot body is partially transferred to the trolley by the conveyor belt, the steering gear 4102 is driven to drive the roller 4101 thereon to rotate, and the rotation of the roller 4101 drives the robot body to move horizontally on the roller 4101, Then all of them come to the body transfer cart 4100, stop the servo 4102, and realize the robot's self-pickup process from the conveyor belt to the body transfer cart 4100. Its structure is simple, the machine is picked up quickly, and the energy consumption is low, saving time and effort. After the machine is picked up, the body transfer cart 4100 can directly take the robot out of the production workshop to complete the transfer. When the body transfer cart 4100 brings the scrapped, modified, disassembled, reworked robot, or the main body parts of the robot to the production workshop, the servo 4102 drives the roller 4101 to rotate in the opposite direction, and the robot or the main body parts of the robot are directly pushed into the conveyor belt, and then the conveyor belt relays the body to realize the robot from the body transfer cart 4100 to the conveyor belt for self-storage, which is efficient and convenient; the parts transfer trolley 4200 is composed of a rectangular bottom plate as the main body, with a number of universal wheels installed at the lower end of the rectangular bottom plate, a transfer box 4201 is installed on one side of the rectangular bottom plate, and a transfer electric push rod mounting seat 4202 is installed on the other side of the rectangular bottom plate, and a transfer electric push rod 4203 facing the transfer box 4201 is installed on the transfer electric push rod mounting seat 4202, and the output shaft of the transfer electric push rod 4203 is connected to a push plate, and the width and height of the push plate correspond to a certain length and width of a parts storage box, and also correspond to the width of the transfer box 4201 at that location; an upward electric push rod is provided at the bottom end of the transfer box 4201, and the electric push rod is installed at the bottom end of the transfer box 4201. The output shaft of the push rod is connected to a base plate, and the parts are stored above the base plate. The base plate is pushed out to the top of the box by the electric push rod, and then the transfer electric push rod 4203 outside the box pushes the parts horizontally into the parts storage box 3003 for a second time. It should be noted that, according to the parts storage boxes 3003 of different heights and widths, transfer electric push rod mounting seats 4202 of different heights, push plates of different lengths and widths, and transfer boxes 4201 of different lengths, widths and heights can be set. For different layers, that is, parts storage units of different heights, an X-shaped lifting frame can be set on the entire rectangular base plate, so that the transfer box 4201 and other equipment on the X-shaped lifting frame can be raised to different heights for parts replenishment operations.

[0063] A flexible production / disassembly method using the customizable construction robot flexible production / disassembly line, see Figure 1-4 , the steps are:

[0064] S1. Production and repair: First, the types of robots to be produced on the production line are divided into two types. The first type is the direct assembly of parts from scratch, which does not require the use of the body transfer cart 4100. The parts in the parts storage part 3000 can be directly assembled in the production workshop. The first type can proceed to step S2-step S4 for construction; the second type is the reproduction of preliminary production materials, which can be the disassembly and reproduction of other robots, robot repair, and the recycling of robot scrap materials. It can proceed to step S5-step S6;

[0065] S2. Pre-preparation of materials and equipment: First, according to actual needs, corresponding parts storage units are configured on the side of the production workshop. The parts storage units have parts storage boxes 3003 of different heights and sizes, and parts are transferred to the parts storage boxes 3003 through electric push rods using different types of parts transfer carts 4200. The storage covers 3004 of all parts storage boxes 3003 are closed. According to actual needs, corresponding number of lifting units are configured on the top of the production workshop, and several sets of equipment mounting seats with preset shapes are equipped on the two sets of equipment mounting units. The required equipment such as electric drills, screw machines, robotic arms, etc. are installed on the equipment mounting seats;

[0066] S3, Robot installation and production: The background of the construction method below is set as low-altitude construction, which refers to the highest suitable construction height that construction personnel can reach when standing in the auxiliary production area, that is, the construction height that construction personnel can reach, which is usually not higher than 1.8m. Therefore, construction personnel can cooperate with the pulled down lifting rope 2007b and hook 2007c in the auxiliary production area to take out the parts in the parts storage box 3003. If high-altitude construction is required later, that is, the construction height is out of the highest construction height that construction personnel can reach when standing in the auxiliary production area, the mechanical arm installed on the equipment mounting seat 2004 can be used to rise to a high place and clamp the lifting rope. 2007b, the hook 2007c is connected with the parts in the high parts storage box 3003 and taken out. Here, the construction personnel can also use another lifting rope separated from the winch on the first winch fixed platform 2005 as a safety rope, sit on the L-shaped equipment mounting seat 2004 and move to a high place to take out parts and install the robot; the equipment mounting seat 2004 and the equipment thereon on the same equipment mounting cross frame 2002, and the equipment mounting seat 2004 and the equipment thereon on different groups of equipment mounting cross frames 2002 can cooperate with each other to complete the robot production; for the robot production at a low place, the robot can be placed on the transmission The conveyor belt 1002 is used for mobile construction. For robot production at high places, the robot can be lifted by the lifting unit for construction, or after being lifted by the lifting unit, several groups of L-shaped equipment mounting seats 2004 on both sides are controlled to be close to form a bottom support seat to hold up the robot, and then other equipment mounting seats 2004 are used for installation and construction. The advantage of setting more equipment mounting seats 2004 is that four L-shaped equipment mounting seats 2004 are used to support the robot at a high place. At this time, four workers sitting on the equipment mounting seats 2004 at the four corners of the robot can directly construct the robot at a high place, and the process is efficient and the construction coverage is large. The coverage range is wider; a smaller robot can be placed on a single conveyor belt for production. Here, a smaller robot means that the robot can be placed on a single conveyor belt for movement after adjusting its position, and will not collide with the second vertical rod 2001b of the equipment installation during movement. A larger robot means that the robot can enter a single conveyor belt in one direction after adjusting its position, but it may occupy the space of two conveyor belts after rotation. In this case, it can be rotated to the narrower side and placed on the single conveyor belt, and then sent into the production workshop and between the two sets of equipment installation units. Then, the lifting unit cooperates with the two sets of equipment installation units to rotate and place it on the two conveyor belts for production.

[0067] S4, robot output: the completed robot is directly placed on the conveyor belt, and the body transfer cart 4100 is controlled to move to the end of the production workshop. One end of the bottom plate of the body transfer cart 4100 is close to the end of the conveyor belt, and the conveyor belt is controlled to drive, and the robot part is moved to the bottom plate of the cart. When the robot body (referring to most of the robot body, such as three quarters, that is, the center of gravity is moved to the cart) is partially transferred to the body transfer cart 4100 by the conveyor belt, the steering gear 4102 is driven to drive the roller 4101 on it to rotate, and the rotation of the roller 4101 drives the body to move horizontally on the roller 4101, and then all are moved to the body transfer cart 4100, and the steering gear 4102 is stopped to realize the self-collection process of the robot from the conveyor belt to the body transfer cart 4100. The structure is simple, the machine is taken quickly, and the energy consumption is low, which saves time and effort. After the machine is taken, the body transfer cart 4100 can directly take the robot out of the production workshop to complete the transfer;

[0068] S5. Transfer of scrapped bodies: When the body transfer cart 4100 brings the scrapped, modified, disassembled, or reworked robot or robot main parts to the production workshop, the servo 4102 drives the roller 4101 to rotate in the opposite direction, and the robot or robot main parts are directly pushed into the conveyor belt, and then relayed by the conveyor belt, realizing the self-storage process of the robot from the body transfer cart 4100 to the conveyor belt, which is efficient and convenient;

[0069] S6. Processing and reproduction of waste bodies: If the robot is small, the two conveyor belts can be divided into disassembly and re-production lines. One side can use the same moving method as step S3, with the opposite construction method, that is, it was originally spliced, but now it is disassembled. The waste robot parts are disassembled and low-altitude and high-altitude disassembly are carried out. The reusable material parts can be transferred to another production line for direct splicing, or stored in the parts storage box 3003 by workers and robotic arms waiting for use. The other production line produces robots in the same way as step S3; for larger robots, they are completely disassembled on the two conveyor belts and then completely reassembled to produce new robots. The flexibility of the present invention means that the production line can cope well with both new parts and waste bodies. There is a flexible production range that covers a large range of construction robot production. After production is completed, the robot output and transportation are completed through step S4.

[0070] It should be understood that the above description of the preferred embodiment is relatively detailed and cannot be regarded as limiting the scope of patent protection of the present invention. Under the enlightenment of the present invention, ordinary technicians in this field can also make substitutions or modifications without departing from the scope of protection of the claims of the present invention, which all fall within the scope of protection of the present invention. The scope of protection requested for the present invention shall be based on the attached claims.

Claims

1. A customizable flexible production / disassembly line for construction robots, characterized in that: include: The production workshop is the main part of the entire production line and is used as a production and disassembly platform for robots; The equipment installation part is arranged inside the production workshop part and is used for transporting robots and parts, producing and disassembling robots, and carrying construction personnel; The parts storage part is arranged outside the production workshop part, and is used to supply parts to the robot production link inside the production line, store the parts disassembled in the production line, and cooperate with the external transfer part to automatically replenish parts; The transfer part is connected to the production workshop from the outside and is used to transport the robots produced by the workshop and send the scrapped robots and those to be repaired to the workshop for disassembly and parts replenishment.

2. The customizable flexible production / disassembly line of construction robots according to claim 1 is characterized in that: The production workshop part includes a workshop floor as the main body, the workshop floor is a rectangular floor, and four vertical alloy vertical rods are installed at the four corners, located on both sides of the long side of the workshop floor, and the bottom and top inner sides of the two alloy vertical rods are installed with first track mounting rods, the track on the first track mounting rod at the bottom faces upward, and the track on the first track mounting rod at the top faces downward, and the two sets of tracks correspond to each other, and are used to install the first vertical rods for installing vertical equipment through an electric trolley; A second track mounting rod is also installed on the top of the first track mounting rod and the alloy vertical rod, and the track on the second track mounting rod faces upward; two alloy cross bars are installed at both ends of the two second track mounting rods, and the installation direction of the alloy cross bars corresponds to the two sides of the short side of the workshop floor, and a fourth track mounting rod is installed on the lower side of the middle of the two alloy cross bars, which is in the same direction and at the same height as the second track mounting rod, and the fourth track mounting rod is provided with tracks on the upper and lower surfaces, facing upward and downward respectively; a third track mounting rod is installed on the workshop floor at a corresponding position below the fourth track mounting rod, and the track direction of the third track mounting rod is vertically upward, corresponding to the downward track of the fourth track mounting rod, and is used for installing the equipment to install the second vertical rod.

3. The customizable flexible production / disassembly line of construction robots according to claim 2 is characterized in that: A conveyor belt is installed on the workshop floor between the first track mounting rod and the third track mounting rod, and there are two conveyor belts installed in total, which are distributed between the first track mounting rod and the third track mounting rod and between the third track mounting rod and the first track mounting rod. At the same time, a partition baffle is provided on both sides of each conveyor belt on the workshop floor, with a total of four partition baffles, which separate the area between the conveyor belt and the track. The separated area close to the first track mounting rod or the third track mounting rod is an auxiliary production area for construction personnel.

4. The customizable flexible production / disassembly line of construction robots according to claim 2 is characterized in that: The production workshop part also includes the robot bodies required to be produced by the entire production line.

5. The customizable flexible production / disassembly line of construction robots according to claim 1 is characterized in that: The equipment installation part includes a first vertical rod for equipment installation installed between two opposing rails of the upper and lower first rail installation rods, and also includes a second vertical rod for equipment installation installed between the upper end rail of the third rail installation rod and the bottom rail of the fourth rail installation rod; A vertical track is provided on the same side of the first vertical rod for equipment installation and the second vertical rod for equipment installation. At the same time, a first winch fixing platform is provided on the other side of the top of the first vertical rod for equipment installation and the second vertical rod for equipment installation, and a winch is provided on the first winch fixing platform; a horizontal equipment installation cross frame is provided on the tracks of the two first vertical rods for equipment installation and the second vertical rod for equipment installation on the same side, and the equipment installation cross frame is installed on the tracks of the first vertical rod for equipment installation and the second vertical rod for equipment installation through an electric trolley; The equipment installation horizontal frame is provided with lifting rings on both sides of the top, and the winch provided on the first winch fixing platform is connected to the lifting rings below it through a lifting rope hook; the equipment installation horizontal frame is composed of an upper and lower rails, and the upper and lower rails are connected by vertical rods at both ends to form a horizontal rail group, and the horizontal rail group is installed on the rails of the equipment installation first vertical rod and the equipment installation second vertical rod through the end electric trolley; the equipment mounting seat is installed on the equipment installation horizontal frame through the electric trolley, and the equipment mounting seat can move horizontally on the track of the equipment installation horizontal frame.

6. The customizable flexible production / disassembly line of construction robots according to claim 5 is characterized in that: The equipment mounting seat is L-shaped, inverted L-shaped or ┝-shaped, wherein: When the equipment mounting seat is L-shaped, it is used to install upward construction equipment, or when the equipment mounting seat is not installed with equipment, it is used to directly carry the robot body so that the robot body can switch its position between the two conveyor belts; if the two conveyor belts are divided into production and disassembly, the L-shaped equipment mounting seat is used to act as a porter, allowing the robot body to quickly switch between production and disassembly. When the robot body is hoisted into the air for construction installation or disassembly, it is difficult for construction workers to reach it, that is, the construction workers can directly sit on the L-shaped equipment mounting seat; or When the equipment mounting base is in an inverted L shape, the equipment is directly mounted below the horizontal plate at the top of the equipment mounting base to achieve vertical downward construction; or When the equipment mounting base is in a ┝ shape, it is used to provide a larger construction coverage area to ensure that the equipment mounting base covers the upper and lower construction areas.

7. The customizable flexible production / disassembly line of construction robots according to claim 5 is characterized in that: Two first vertical rods for equipment installation, one second vertical rod for equipment installation, one horizontal frame for equipment installation, two lifting rings, several sets of equipment installation seats, one first hoisting machine fixing platform, and two hoists constitute an equipment installation unit; two opposite equipment installation units are arranged on the track between the first track installation rod and the third track installation rod for cooperating with each other in transportation and construction; A plurality of second winch fixing platforms are provided between the rails at the top of the second rail mounting rod and the fourth rail mounting rod. The second winch fixing platforms are installed on the rails through an electric trolley. Two winches are provided on the second winch fixing platforms for synchronously lifting multiple groups of materials. The two winches are respectively located above two conveyor belts. A wire-paying opening is provided on the second winch fixing platform at the lower part of the winch. The hoisting rope of the winch passes through the wire-paying opening and extends to above the conveyor belt below. A hook is connected to the end of the hoisting rope. Each second winch fixing platform and the equipment thereon form a lifting unit.

8. The customizable flexible production / disassembly line of construction robots according to claim 1 is characterized in that: The parts storage part includes a plurality of groups of parts storage units arranged on both sides of the production workshop part, each group of the parts storage units consists of a parts storage horizontal frame installed between two alloy vertical bars at both ends of the long side of the workshop floor and a plurality of parts storage boxes installed on the parts storage horizontal frame, the parts storage horizontal frame includes four long bars arranged up and down and inside and outside, the four long bars are all provided with parts storage tracks, the parts storage tracks on the two long bars at the bottom face upwards, and the parts storage tracks on the two long bars at the top face downwards, and a plurality of parts storage boxes are installed between the parts storage tracks arranged up and down by an electric trolley; The parts storage box is provided with openings at both ends, and a storage pull cover is provided at the outer opening. The storage pull cover can be opened and closed. When it is opened, materials can be added to the parts storage box by external equipment. When it is closed, the parts storage box is used to store materials waiting for internal use.

9. The customizable construction robot flexible production / disassembly line according to claim 1 is characterized in that: The transfer part includes a body transfer trolley for storing the robot body and a parts transfer trolley for transferring materials; the body transfer trolley is mainly composed of a trolley bottom plate, a roller is installed at the lower end of the trolley bottom plate, the middle of the trolley bottom plate is opened and a plurality of rollers are installed in the opening, and the rotating shaft of the roller passes through the trolley bottom plate and is connected to the steering gear installed on the side of the trolley bottom plate through a coupling; The parts transfer trolley is composed of a rectangular base plate as the main body, a plurality of universal wheels are installed at the lower end of the rectangular base plate, a transfer box is installed on one side of the rectangular base plate, and a transfer electric push rod mounting seat is installed on the other side of the rectangular base plate, a transfer electric push rod facing the transfer box is installed on the transfer electric push rod mounting seat, and the output shaft of the transfer electric push rod is connected to a push plate; an upward electric push rod is provided at the bottom end of the transfer box, and the output shaft of the electric push rod is connected to a base plate, and the parts are stored above the base plate, which is used to push the base plate to the top of the transfer box through the electric push rod, and then the transfer electric push rod pushes the parts horizontally into the parts storage box for a second time.

10. A flexible production / disassembly method for a flexible production / disassembly line according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Production and repair: First, the types of robots to be produced on the production line are divided into two types. The first type is the direct assembly of parts from scratch, which does not require a body transfer cart. The parts in the parts storage part are directly assembled in the production workshop. The first type proceeds to step S2-step S4 for construction; the second type is the reproduction of preliminary production materials, which is the disassembly and reproduction of other robots, robot repair, and robot scrap material recycling and reproduction, and it proceeds to step S5-step S6. S2. Pre-preparation of materials and equipment: First, configure the corresponding parts storage unit on the side of the production workshop according to actual needs. The parts storage unit is equipped with a parts storage box, and the parts are transferred to the parts storage box through the electric push rod by the parts transfer trolley. Close the storage cover of all parts storage boxes. Configure the corresponding number of lifting units on the top of the production workshop according to actual needs, equip two sets of equipment installation units with several sets of preset equipment installation seats, and install the required equipment on the equipment installation seats, including electric drills, screw machines, and robotic arms; S3, robot installation and production: the background of the construction method below is set as low-altitude construction, so the construction personnel in the auxiliary production area cooperate with the pulled down lifting rope and hook to take out the parts in the parts storage box; if high-altitude construction is required, the mechanical arm installed on the equipment mounting seat is used to rise to a high place, clamp the lifting rope and hook to connect with the parts in the high-altitude parts storage box and take them out; the equipment mounting seats and the equipment on the same equipment mounting cross frame, and the equipment mounting seats and the equipment on different groups of equipment mounting cross frames cooperate with each other to complete the robot production; for the production of robots at low places, the robot is placed on the conveyor belt for mobile construction, and for the production of robots at high places, the robot is lifted by the lifting unit for construction, or after being lifted by the lifting unit, several groups of L-shaped equipment mounting seats on both sides are controlled to move closer to form a bottom support seat to support the robot, and then other equipment mounting seats are used for installation and construction; S4, robot output: the completed robot is directly placed on the conveyor belt, and the body transfer cart is controlled to move to the end of the production workshop. One end of the body transfer cart's trolley bottom plate is close to the end of the conveyor belt, and the conveyor belt is controlled to drive. The robot part is moved to the trolley bottom plate. When the robot body is partially transferred to the body transfer cart by the conveyor belt, the steering gear is driven to drive the roller on it to rotate. The rotation of the roller drives the body to move horizontally on the roller, and then all of them are moved to the body transfer cart. The steering gear is stopped to realize the robot's self-collection process from the conveyor belt to the body transfer cart; S5. Transfer of scrapped bodies: When the body transfer cart carries the scrapped, modified, disassembled, or reworked robot or robot main parts to the production workshop, the servo drives the roller to rotate in the opposite direction, and the robot or robot main parts are directly pushed into the conveyor belt, and then the conveyor belt relays the body, realizing the self-storage process of the robot from the body transfer cart to the conveyor belt; S6. Processing and reproduction of waste bodies: If the robot is small, the two conveyor belts are divided into disassembly and re-production lines. One side can use the same moving method as step S3 and the opposite construction method to disassemble the waste robot parts. The reused material parts are transferred to another production line for direct assembly, or stored in a parts storage box by workers and robotic arms waiting for use. The other production line produces robots in the same way as step S3. For larger robots, they are completely disassembled on the two conveyor belts and then completely reassembled to produce new robots. After production is completed, the robot output and transportation are completed through step S4.

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