Automatic refractory brick detection equipment

Abstract

The invention relates to automatic refractory brick detection equipment which comprises a machine body. A detection device; the clamping and conveying device clamps the bricks in the first horizontal direction and conveys the bricks in the second horizontal direction, the first direction is perpendicular to the second direction, and the clamping and conveying device can drive the clamped bricks to rotate around a rotating shaft parallel to the first direction; the posture adjusting device is located on the conveying path of the clamping and conveying device and located below the clamping and conveying device and comprises a first bearing plate, the first bearing plate is used for bearing the bricks conveyed by the clamping and conveying device, and the first bearing plate can move relative to the machine body in the first direction and the vertical direction; and the first bearing plate can rotate around a rotating shaft parallel to the second direction. Posture adjustment and positioning of the bricks can be completed, the mechanical arm can grab the bricks conveniently, the mechanical arm does not need to adjust the postures of the bricks for placement, the requirement for the mechanical arm is lowered, the cost of the mechanical arm is lowered, and the overall cost of equipment is lowered.

Description

Technical Field

[0001] The present invention relates to the technical field of refractory brick production, and particularly relates to an automatic detection device for refractory bricks. Background Art

[0002] Refractory bricks are refractory materials fired from refractory clay or other refractory raw materials, which can withstand relatively high temperatures. They can be used as high-temperature building materials and structural materials for building kilns and various thermal equipment, and can withstand various physical and chemical changes and mechanical actions at high temperatures.

[0003] After the refractory bricks are formed, it is necessary to detect the dimensions of the refractory bricks and frame the detected refractory bricks. Currently, there are devices for automatically detecting and framing the dimensions of refractory bricks. After being detected, the refractory bricks are transported to the station to be framed. The refractory bricks are transported to the station to be framed in a fixed posture, and then are grasped by a robotic arm for stacking. Since the shapes of the refractory bricks are designed according to requirements, there are various shapes of refractory brick products. When different-shaped refractory bricks are framed, the robotic arm needs to adjust the posture of the refractory bricks to place them stably. This requires the robotic arm to have a large number of degrees of freedom, which places high requirements on the robotic arm, resulting in a more complex structure of the robotic arm and an increase in cost. Summary of the Invention

[0004] Based on the above description, the present invention provides an automatic detection device for refractory bricks to solve the problem in the related art that when framing different-shaped refractory bricks by a robotic arm, the requirements for the robotic arm are high, resulting in a more complex structure of the robotic arm and an increase in cost.

[0005] The technical solution for the present invention to solve the above technical problems is as follows:

[0006] The present application provides an automatic detection device for refractory bricks, and the technical solution adopted is as follows:

[0007] An automatic detection device for refractory bricks, comprising:

[0008] A machine body;

[0009] A detection device provided on the machine body for detecting the dimensions of bricks;

[0010] A clamping and conveying device provided on the machine body for clamping bricks in a horizontal first direction and conveying the bricks in a horizontal second direction, the first direction being perpendicular to the second direction. The conveying path of the clamping and conveying device passes through the detection device, and the clamping and conveying device can drive the clamped bricks to rotate around a rotation axis parallel to the first direction;

[0011] An attitude adjustment device provided on the machine body, the attitude adjustment device being located on the conveying path of the clamping and conveying device and below the clamping and conveying device, comprising:

[0012] - A first supporting plate connected to the body, the first supporting plate being used for receiving the bricks conveyed by the clamping and conveying device, the first supporting plate being movable relative to the body in a first direction and in a vertical direction, and the first supporting plate being rotatable about a rotation axis parallel to a second direction;

[0013] - A first driving mechanism, which connects the body and the first supporting plate, is used for driving the first supporting plate to move or stay at a set position, and for driving the first supporting plate to rotate or stay at a set angle.

[0014] On the basis of the above technical solutions, the present invention can also be improved as follows.

[0015] Preferably, the clamping and conveying device includes a clamping assembly for clamping bricks, and the clamping assembly includes:

[0016] A movable clamping block and a fixed clamping block arranged at intervals in a first direction, the movable clamping block being movable in the first direction closer to or away from the fixed clamping block, and the movable clamping block and the fixed clamping block being rotatably connected to the body about the same rotation axis;

[0017] A first driving member, which connects the movable clamping block and the body, is used for driving the movable clamping block to move in the first direction or stay at a set position;

[0018] A second driving member, which connects the first driving member and the body, is used for driving the movable clamping block to rotate or stay at a set angle.

[0019] Preferably, the first driving mechanism includes:

[0020] A first supporting plate connected to the body, the first supporting plate being horizontally arranged and movable in a vertical direction;

[0021] A second supporting plate connected to the first supporting plate, the plane of the second supporting plate being parallel to the second direction, and the second supporting plate being rotatable relative to the first supporting plate about a rotation axis parallel to the second direction;

[0022] A third supporting plate connected to the second supporting plate, the third supporting plate being parallel to the second supporting plate, the third supporting plate being movable in the first direction relative to the second supporting plate, and the first supporting plate being parallel to and connected to the third supporting plate.

[0023] Preferably, two centering blocks are provided on the third support plate. The two centering blocks are arranged at intervals in the second direction and are respectively located on both sides of the first support plate. The two centering blocks can move synchronously closer to or away from each other in the second direction, and are adapted to drive the bricks on the first support plate to move to a set position through the two centering blocks.

[0024] Preferably, the detection device includes:

[0025] A second support plate, which is horizontally arranged and located below the clamping and conveying device. The second support plate is used to support bricks, and the second support plate can move relative to the machine body in the vertical direction;

[0026] A vision detection device and a thickness detection device arranged in sequence in the second direction. The vision detection device and the thickness detection device are located above the second support plate and above the clamping and conveying device. The vision detection device is used to detect the in-plane dimensions of the bricks on the second support plate, and the thickness detection device is used to detect the vertical thickness of the bricks on the second support plate.

[0027] Preferably, the thickness detection device includes:

[0028] A mounting seat, which is connected to the machine body and is horizontally arranged. The mounting seat can move relative to the machine body in the vertical direction;

[0029] Two detection components, which are connected to the mounting seat and are located at the bottom of the mounting seat. The two detection components are arranged at intervals in the first direction. The detection component includes two contact displacement sensors. The two contact displacement sensors are arranged at intervals in the second direction. At least one of the detection components can move relative to the mounting seat in the first direction, and the contact displacement sensor can move relative to the mounting seat in the second direction.

[0030] Preferably, support bar groups are respectively provided in the areas below the vision detection device and the thickness detection device on the top of the second support plate. The support bar group includes a plurality of horizontally arranged and parallel support bars. The plurality of support bars are arranged at intervals in the first direction, and the top heights of the plurality of support bars are the same.

[0031] Preferably, a cleaning device is provided on the machine body. The cleaning device, the detection device, and the attitude adjustment device are arranged in sequence along the second direction. The cleaning device includes a fixed roller brush and a movable roller brush that are arranged at intervals in the vertical direction. The axes of the fixed roller brush and the movable roller brush are both parallel to the first direction. The fixed roller brush is rotatably connected to the machine body and is located below the clamping and conveying device. The movable roller brush is rotatably connected to the machine body and is located above the clamping and conveying device, and the movable roller brush can move in the vertical direction or remain in a set position.

[0032] Preferably, a third supporting plate for supporting bricks is provided on the machine body. The third supporting plate, the detection device, and the attitude adjustment device are arranged in sequence along the second direction. The third supporting plate is horizontally arranged and is located below the clamping and conveying device, and the third supporting plate can move in the vertical direction or remain in a set position.

[0033] Compared with the prior art, the technical solution of the present application has the following beneficial technical effects:

[0034] 1. By providing the clamping and conveying device and the attitude adjustment device in the present application, the clamping and conveying device clamps the bricks in the first direction, which can facilitate the conveying of the bricks and the placing of the bricks. When the clamping and conveying device clamps the bricks and conveys them along the second direction, they pass through the detection device. The size of the bricks is detected by the detection device. Then, the bricks are conveyed to the attitude adjustment device, and the bricks are located above the first supporting plate. According to the shape of the bricks, the clamped bricks are driven by the clamping and conveying device to rotate around the rotation axis parallel to the first direction, so that the bricks are rotated to a state convenient for the robot arm to grasp, which can reduce the degree-of-freedom requirements of the robot arm; then, according to the shape of the bricks, the first supporting plate is rotated to be parallel to the bottom surface of the bricks and maintained, and the first supporting plate is vertically moved to contact and maintain with the bricks. At this time, the clamping and conveying device can release the bricks, and the bricks are supported by the first supporting plate, and the bricks are stably placed on the first supporting plate. Then, the first supporting plate can be rotated to the horizontal state and maintained. Then, according to the set grasping position of the robot arm, the first supporting plate is moved along the first direction and the vertical direction to the set position to complete the attitude adjustment and positioning of the bricks, making it convenient and accurate for the robot arm to grasp the bricks, and only need to move to the set position according to the set program to place them, without the robot arm adjusting the attitude of the bricks, reducing the requirements for the robot arm, reducing the cost of the robot arm, and reducing the overall cost of the equipment;

[0035] 2. Through the setting of the two centering blocks in the present application, the bricks can be further positioned in the second direction, improving the positioning accuracy of the bricks, thereby improving the grasping efficiency and accuracy of the robot arm;

[0036] 3. When the detection device of the present application is working, the clamping and conveying device conveys the brick above the second supporting plate and then places it on the second supporting plate. The visual detection device identifies the planar contour of the brick, and the computer system calculates the length, width and other dimensions of the brick in the horizontal plane. Then the brick is conveyed below the thickness detection device, and multiple contact displacement sensors vertically move to contact the brick to obtain the thickness dimension of the brick in the vertical direction. The detection device has a simple structure and is convenient for detection. Moreover, multiple contact displacement sensors can take the average value to improve the detection accuracy, and the movable setting of the contact displacement sensors can adapt to the detection of bricks with different specifications and shapes;

[0037] 4. In the detection device of the present application, support strip groups are respectively arranged in the areas below the visual detection device and the thickness detection device on the second supporting plate, so that the top heights of multiple support strips are the same. By supporting the brick with multiple support strips, the brick can be ensured to be placed flat, avoiding the protruding part of the brick from supporting on the second supporting plate and causing the brick to be unevenly placed, thereby affecting the accuracy of the brick size detection, that is, improving the accuracy of the brick size detection data. Description of the Drawings

[0038] Figure 1 It is a schematic structural diagram of the refractory brick automatic detection equipment provided by the embodiment of the present invention;

[0039] Figure 2 It is a side view of the refractory brick automatic detection equipment provided by the embodiment of the present invention;

[0040] Figure 3 is Figure 1 an enlarged schematic diagram of area A in

[0041] Figure 4 It is a schematic structural diagram of the thickness detection device in the refractory brick automatic detection equipment provided by the embodiment of the present invention;

[0042] Figure 5 It is a schematic structural diagram of the second supporting plate and the support strips in the refractory brick automatic detection equipment provided by the embodiment of the present invention;

[0043] Figure 6 It is a schematic diagram when the first supporting plate of the attitude adjustment device in the refractory brick automatic detection equipment provided by the embodiment of the present invention is horizontal;

[0044] Figure 7 It is a schematic diagram when the first supporting plate of the attitude adjustment device in the refractory brick automatic detection equipment provided by the embodiment of the present invention rotates to be inclined.

[0045] In the drawings, the list of components represented by each reference numeral is as follows:

[0046] 1. Body; 11. Mounting bracket; 2. Detection device; 21. Second supporting plate; 211. Support bar; 22. Visual detection device; 23. Thickness detection device; 231. Mounting base; 232. Contact displacement sensor; 3. Clamping and conveying device; 31. Movable clamping block; 32. Fixed clamping block; 33. Rotary cylinder; 4. Attitude adjustment device; 41. First supporting plate; 42. First supporting board; 43. Second supporting board; 44. Third supporting board; 45. Centering block; 5. Third supporting plate; 6. Cleaning device; 61. Movable roller brush; 62. Fixed roller brush. Detailed implementation manners

[0047] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. Embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0049] It can be understood that spatial relationship terms such as "under", "below", "lower", "beneath", "above", "upper", etc. can be used herein to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that in addition to the orientation shown in the figure, spatial relationship terms also include different orientations of the device during use and operation. For example, if the device in the figure is flipped, the element or feature described as "under other elements" or "beneath it" or "under it" will be oriented "above" other elements or features. Therefore, the exemplary terms "under" and "below" can include both the upper and lower orientations. In addition, the device can also include other orientations (such as rotating 90 degrees or other orientations), and the spatial description terms used herein are accordingly interpreted.

[0050] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In the following embodiments, "connection" should be understood as "electrical connection", "communication connection", etc. if there is an electrical signal or data transmission between the connected circuits, modules, units, etc.

[0051] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprises / comprising", "has" or the like specify the presence of the stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

[0052] Referring to Figures 1-7 As shown, an embodiment of the present application provides a refractory brick automatic detection device, which includes a machine body 1 and a detection device 2, a clamping and conveying device 3 and an attitude adjustment device 4 arranged on the machine body 1. The clamping and conveying device 3 is used for clamping bricks and conveying bricks, the detection device 2 is used for detecting the size of bricks, and the attitude adjustment device 4 is used for adjusting the attitude of bricks after detection so as to be grabbed by a robotic arm.

[0053] The machine body 1 is composed of a frame in the shape of a cuboid and a guard plate covering the outside of the frame. The machine body 1 is in the shape of a cuboid as a whole, and both the length direction and the width direction are horizontal.

[0054] The clamping and conveying device 3 is arranged on the top of the machine body 1, and is used for clamping bricks in a horizontal first direction and conveying bricks in a horizontal second direction. The first direction is perpendicular to the second direction, and the clamping and conveying device 3 can drive the clamped bricks to rotate around a rotation axis parallel to the first direction; in this embodiment, the first direction is the width direction of the machine body 1, and the second direction is the length direction of the machine body 1.

[0055] Referring to Figure 1 and Figure 3 As shown, specifically, the clamping and conveying device 3 includes a clamping component for clamping bricks and a driving component for driving the clamping component to move in the second direction. The clamping component includes a movable clamping block 31 and a fixed clamping block 32 arranged at intervals in the first direction. The movable clamping block 31 can move closer to or away from the fixed clamping block 32 in the first direction, and the movable clamping block 31 and the fixed clamping block 32 are rotatably connected to the machine body 1 around the same rotation axis; the clamping component further includes a first driving member and a second driving member. The first driving member connects the movable clamping block 31 and the machine body 1, and is used for driving the movable clamping block 31 to move in the first direction or stay at a set position. The second driving member connects the first driving member and the machine body 1, and is used for driving the movable clamping block 31 to rotate or stay at a set angle. In this embodiment, the first driving member is a cylinder, and the second driving member is a rotary cylinder 33, which realizes the functions of clamping bricks by the clamping component and driving the bricks to rotate; there are two guide rails in the second direction on the machine body 1, and the two guide rails are arranged at intervals in the first direction. The fixed clamping block 32 is connected to one guide rail and can move in the second direction, while the movable clamping block 31 and the first driving member and the second driving member as a whole are connected to the other guide rail and can move in the second direction to improve the installation stability of the clamping component.

[0056] Referring to Figure 1 As shown, the driving component adopts a synchronous belt driving device. Specifically, two driving shafts parallel to the first direction are arranged at both ends of the machine body 1, and the two driving shafts are connected by a synchronous belt. Synchronous belt pulleys are provided on the corresponding driving shafts. There are two synchronous belts, and the two synchronous belts are arranged at intervals along the first direction. The fixed clamping block 32 is connected to one synchronous belt, while the movable clamping block 31 and the first driving member and the second driving member are integrally connected to the other synchronous belt, realizing the function of driving the synchronous movement of the movable clamping block 31 and the fixed clamping block 32 to convey bricks.

[0057] Referring to Figure 1 and Figure 3 As shown, in order to facilitate the clamping and conveying device 3 to clamp bricks, a third supporting plate 5 for supporting bricks is provided on the machine body 1. The third supporting plate 5 is arranged at one end of the machine body 1, is horizontally arranged and is located below the clamping and conveying device 3. The third supporting plate 5 can move vertically or remain in a set position; in this embodiment, a cylinder is used to drive the third supporting plate 5 to move vertically or remain in a set position. After the bricks are fired, a robotic arm can be used to take them out and place them on the third supporting plate 5. For bricks with shapes such as rectangles and trapezoids, the two parallel sides of the bricks are oriented towards the movable clamping block 31 and the fixed clamping block, so that the clamping and conveying device 3 can stably clamp and convey the bricks.

[0058] Referring to Figures 1-2 As shown, further, after the bricks are just fired, residues are likely to adhere to the surface of the bricks. In order to avoid affecting the size detection results, the surface of the bricks needs to be cleaned before detection. Therefore, a cleaning device 6 is provided between the detection device 2 and the third supporting plate 5. Specifically, the cleaning device 6 includes a fixed roller brush 62 and a movable roller brush 61 arranged at intervals in the vertical direction. The axes of the fixed roller brush 62 and the movable roller brush 61 are both parallel to the first direction. The fixed roller brush 62 is rotatably connected to the machine body 1 and is located below the clamping and conveying device 3. The movable roller brush 61 is rotatably connected to the machine body 1 and is located above the clamping and conveying device 3, and the movable roller brush 61 can move vertically or remain in a set position. In this embodiment, an installation bracket 11 is provided above the machine body 1. The movable roller brush 61 is rotatably installed in an installation shell, and a motor is provided on the installation shell to drive the movable roller brush 61 to rotate. The installation shell is connected to the installation bracket 11 through a lead screw driving mechanism to drive the installation shell and the movable roller brush 61 therein to move vertically or remain in a set position through the lead screw driving mechanism. When the clamping and conveying mechanism clamps and conveys the bricks and passes through the movable roller brush 61 and the fixed roller brush 62, the surface of the bricks is cleaned by the movable roller brush 61 and the fixed roller brush 62, and the residues attached to the surface of the bricks are swept away, so that the bricks can be placed stably later.

[0059] Referring to Figures 1-2As shown, further, in order to realize automatic detection of bricks, the detection device 2 includes a second supporting plate 21, a visual detection device 22 and a thickness detection device 23. The second supporting plate 21 is horizontally arranged and located below the clamping and conveying device 3. The second supporting plate 21 is used to support bricks, and the second supporting plate 21 can be moved relative to the machine body 1 in the vertical direction. The visual detection device 22 and the thickness detection device 23 are arranged accordingly along the second direction. The visual detection device 22 and the thickness detection device 23 are located above the second supporting plate 21 and above the clamping and conveying device 3. The visual detection device 22 is used to detect the horizontal plane size of the bricks on the second supporting plate 21, and the thickness detection device 23 is used to detect the vertical thickness of the bricks on the second supporting plate 21.

[0060] Reference Figure 2 As shown, specifically, the second supporting plate 21 is used to receive bricks. After the clamping and conveying device 3 conveys the bricks to the top of the second supporting plate 21, the second supporting plate 21 rises to contact with the bricks. The clamping and conveying device 3 loosens the bricks and places them on the second supporting plate 21 so that the visual inspection device 22 and the thickness inspection device 23 can detect the thickness of the bricks; the visual inspection device 2 is located between the thickness inspection device 23 and the cleaning device 6, and the visual inspection device 22 includes a visual camera, which is installed on the mounting bracket 11 and is used to capture the horizontal plane image of the bricks placed on the second supporting plate 21, and transmit the data to the computer system, and the length, width and other dimensions of the bricks in the horizontal plane are obtained after calculation and processing.

[0061] Reference Figure 2 and Figure 4 As shown, the thickness detection device 23 includes a mounting seat 231 and two detection components. The mounting seat 231 is connected to the body 1 and is horizontally arranged. The mounting seat 231 can move relative to the body 1 in the vertical direction; the two detection components are connected to the mounting seat 231 and are located at the bottom of the mounting seat 231. The two detection components are spaced apart along a first direction. The detection components include two contact displacement sensors 232. The two contact displacement sensors 232 are spaced apart along a second direction. At least one detection component can move relative to the mounting seat 231 along the first direction, and the contact displacement sensor 232 can move relative to the mounting seat 231 along the second direction. Specifically, the mounting seat 231 is installed on the mounting bracket 11, and the mounting seat 231 is driven to move vertically by a cylinder; the detection component includes a mounting plate, which is connected to the mounting seat 231, and two guide rods along the first direction are provided on the mounting plate, and the contact displacement sensor 232 is installed on the two guide rods through a slider, and the slider can move axially along the guide rods; in this embodiment, one detection component can move along the second direction, and the other detection component is fixed on the mounting seat 231, and two slide rods along the second direction are provided on the mounting seat 231, and the mounting seat 231 in the movable detection component is connected to the two slide rods through a slider.

[0062] When inspecting the bricks, when the clamping and conveying device 3 conveys the bricks above the second supporting plate 21 and below the vision inspection device 22, the second supporting plate 21 rises to contact the bricks, the clamping and conveying device 3 releases the bricks, adjusts the height of the second supporting plate 21 to the set height, and the vision inspection device 22 inspects the dimensions of the bricks in the horizontal plane; then the clamping and conveying device 3 re-clamps the bricks and conveys them below the thickness inspection device 23. Similarly, the height of the second supporting plate 21 is adjusted to the set height. In the thickness inspection device 23, the mounting seat 231 descends until all the contact displacement sensors 232 contact the bricks. The values of the multiple contact displacement sensors 232 are averaged and the brick thickness is calculated to complete the automatic inspection of the brick dimensions. The movable setting of the contact displacement sensors 232 can adjust the position according to the brick dimensions to meet the measurement requirements of bricks of various dimensions.

[0063] Refer to Figure 5 As shown, further, support bar groups are respectively provided in the regions below the vision inspection device 22 and below the thickness inspection device 23 at the top of the second supporting plate 21. The support bar group includes multiple support bars 211 that are horizontally arranged and parallel to each other. The multiple support bars 211 are arranged at intervals in the first direction, and the top heights of the multiple support bars 211 are the same. When the bricks are placed on the second supporting plate 21, they are supported on the multiple support bars 211, which can ensure that the bricks are placed flat, avoid the protruding parts on the bricks being supported on the second supporting plate 21, resulting in uneven placement of the bricks, and further affecting the accuracy of the brick dimension inspection, that is, improving the accuracy of the brick dimension inspection data.

[0064] Refer to Figures 1-2 and Figures 6-7 As shown, further, after the bricks are inspected by the inspection device 2, they are conveyed to the posture adjustment device 4. That is, the third supporting plate 5, the cleaning device 6, the inspection device 2, and the posture adjustment device 4 are arranged in sequence along the second direction. The posture adjustment device 4 is located on the conveying path of the clamping and conveying device 3 and below the clamping and conveying device 3. It includes a first supporting plate 41 and a first driving mechanism. The first supporting plate 41 is connected to the machine body 1 and is used to receive the bricks conveyed by the clamping and conveying device 3. The first supporting plate 41 can move relative to the machine body 1 in the first direction and the vertical direction, and the first supporting plate 41 can rotate around a rotation axis parallel to the second direction. The first driving mechanism is connected to the machine body 1 and the first supporting plate 41, and is used to drive the first supporting plate 41 to move or stay in a set position, and to drive the first supporting plate 41 to rotate or stay in a set angle.

[0065] Refer to Figures 6-7As shown, specifically, the plane of the first supporting plate 41 is parallel to the second direction. The first driving mechanism includes: a first supporting plate 42, a second supporting plate 43, and a third supporting plate 44. The first supporting plate 42 is connected to the machine body 1. The first supporting plate 42 is horizontally arranged and can move in the vertical direction. The second supporting plate 43 is connected to the first supporting plate 42. The plane of the second supporting plate 43 is parallel to the second direction, and the second supporting plate 43 can rotate relative to the first supporting plate 42 about a rotation axis parallel to the second direction. The third supporting plate 44 is connected to the second supporting plate 43. The third supporting plate 44 is parallel to the second supporting plate 43. The third supporting plate 44 can move relative to the second supporting plate 43 in the first direction. The first supporting plate 41 is parallel to the third supporting plate 44 and is connected to the third supporting plate 44.

[0066] Refer to Figures 6-7 As shown, the first supporting plate 42 is driven by a cylinder to move vertically and be held in a set position to achieve the function of the first supporting plate 41 moving vertically or being held in a set position. Two ear plates are provided at the bottom of the second supporting plate 43 at intervals in the second direction. Two U-shaped lifting lugs are provided at the top of the first supporting plate 42 at intervals in the second direction. The two ear plates are respectively connected to the two lifting lugs by pin shafts. The axis of the pin shafts is parallel to the second direction and the two pin shafts are coaxial, realizing the function that the second supporting plate 43 can rotate relative to the first supporting plate 42. To drive the second supporting plate 43 to rotate, a cylinder is provided between the first supporting plate 42 and the second supporting plate 43. The body and the piston rod of the cylinder are respectively hinged to the first supporting plate 42 and the second supporting plate 43, and the hinge axis is parallel to the second direction to drive the second supporting plate 43 to rotate through the cylinder, thereby realizing the function of the first supporting plate 41 rotating or being held in a set position. Two slide rails are provided at the top of the second supporting plate 43. The axis of the slide rails is perpendicular to the second direction and parallel to the plane of the second supporting plate 43. Two slide seats are connected to the bottom of the third supporting plate 44. The two slide seats are respectively assembled on the two sliders. At the same time, a cylinder is provided on the second supporting plate 43 to drive the third supporting plate 44 to move relative to the second supporting plate 43, realizing the function of the first supporting plate 41 moving in the first direction or being held in a set position.

[0067] Refer to Figures 6-7As shown in the figure, further, two centering blocks 45 are provided on the third support plate 44. The two centering blocks 45 are arranged at intervals along the second direction and are respectively located on both sides of the first supporting plate 41. The two centering blocks 45 can move synchronously closer to or away from each other along the second direction, and are adapted to drive the bricks on the first supporting plate 41 to move to a set position through the two centering blocks 45. Specifically, in the direction perpendicular to the third supporting portion, the distance between the centering block 45 and the third support plate 44 is greater than the distance between the first supporting plate 41 and the third support plate 44. In this way, when the bricks are placed on the first supporting plate 41, the centering block 45 can move to contact the bricks and drive the bricks to move along the second direction. In this embodiment, a double-acting cylinder is used to drive the two centering blocks 45 to move synchronously closer to or away from each other. The double-acting cylinder is located between the supporting plate and the third support plate 44. Through the arrangement of the two centering blocks 45, the bricks can be further positioned in the second direction, improving the positioning accuracy of the bricks, thereby improving the grasping efficiency and accuracy of the robotic arm.

[0068] Through the above settings, when the clamping and conveying device 3 conveys the bricks above the posture adjusting device 4, the bricks are rotated to a state convenient for the robotic arm to grasp. Then, according to the shape of the bricks, for the bricks with a horizontal bottom surface, the first supporting plate 41 is raised to contact the bricks. The clamping and conveying device 3 releases the bricks and places the bricks stably on the first supporting plate 41. Then, the first supporting plate 41 moves along the first direction to move the bricks to the set grasping position of the robotic arm. At the same time, the two centering blocks 45 are used to drive the bricks to move to the set position along the second direction, that is, to position the bricks for the robotic arm to grasp. For the bricks whose bottom surface is not in a horizontal state after the clamping and conveying device 3 rotates the bricks, such as bricks in the shape of a trapezoid or a parallelogram, the first supporting plate 41 is rotated until the top surface is parallel to the bottom surface of the bricks. Then, the first supporting plate 41 is raised to contact the bricks. After that, the clamping and conveying device 3 releases the bricks again, and the bricks can be stably placed on the first supporting plate 41. Then, the first supporting plate 41 is rotated to be horizontal, and the positions of the bricks in the first direction and the second direction are adjusted to the set grasping position of the robotic arm, completing the posture adjustment and positioning of the bricks, making it convenient for the robotic arm to grasp the bricks. The robotic arm only needs to move to the set grasping position according to the set program to grasp the bricks, and then move to the set placing position to place them, without the need for the robotic arm to adjust the posture of the bricks, reducing the requirements for the robotic arm, reducing the cost of the robotic arm, and reducing the overall cost of the equipment.

[0069] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic detection device for refractory bricks, characterized in that, Comprising: A machine body (1); A detection device (2) provided on the machine body (1) for detecting the size of bricks; A clamping and conveying device (3) provided on the machine body (1) for clamping bricks in a horizontal first direction and conveying the bricks in a horizontal second direction, the first direction being perpendicular to the second direction, the conveying path of the clamping and conveying device (3) passing through the detection device (2), and the clamping and conveying device (3) being capable of driving the clamped bricks to rotate about a rotation axis parallel to the first direction; An attitude adjustment device (4) provided on the machine body (1), the attitude adjustment device (4) being located on the conveying path of the clamping and conveying device (3) and below the clamping and conveying device (3), comprising: - A first supporting plate (41) connected to the machine body (1), the first supporting plate (41) being used for receiving the bricks conveyed by the clamping and conveying device (3), the first supporting plate (41) being movable relative to the machine body (1) in the first direction and in the vertical direction, and the first supporting plate (41) being capable of rotating about a rotation axis parallel to the second direction; - A first driving mechanism connecting the machine body (1) and the first supporting plate (41) for driving the first supporting plate (41) to move or stay at a set position, and for driving the first supporting plate (41) to rotate or stay at a set angle.

2. The automatic refractory brick detection device according to claim 1, characterized in that, The clamping and conveying device (3) includes a clamping assembly for clamping bricks, and the clamping assembly includes: An active clamping block (31) and a fixed clamping block (32) arranged at intervals in the first direction, the active clamping block (31) being movable in the first direction closer to or away from the fixed clamping block (32), and the active clamping block (31) and the fixed clamping block (32) being rotatably connected to the machine body (1) about the same rotation axis; A first driving member connecting the active clamping block (31) and the machine body (1) for driving the active clamping block (31) to move in the first direction or stay at a set position; A second driving member connecting the first driving member and the machine body (1) for driving the active clamping block (31) to rotate or stay at a set angle.

3. The automatic refractory brick detection equipment according to claim 1, characterized in that, The first driving mechanism includes: A first supporting plate (42) connected to the machine body (1), the first supporting plate (42) being horizontally arranged and movable in the vertical direction; A second supporting plate (43) connected to the first supporting plate (42), the plane of the second supporting plate (43) being parallel to the second direction, and the second supporting plate (43) being rotatable relative to the first supporting plate (42) about a rotation axis parallel to the second direction; A third supporting plate (44) connected to the second supporting plate (43), the third supporting plate (44) being parallel to the second supporting plate (43), the third supporting plate (44) being movable relative to the second supporting plate (43) in the first direction, and the first supporting plate (41) being parallel to the third supporting plate (44) and connected to the third supporting plate (44).

4. The automatic refractory brick detection device according to claim 3, characterized in that: Two centering blocks (45) are provided on the third support plate (44). The two centering blocks (45) are arranged at intervals in the second direction and are respectively located on both sides of the first support plate (41). The two centering blocks (45) can move synchronously closer to or away from each other in the second direction, and are adapted to drive the bricks on the first support plate (41) to a set position through the two centering blocks (45).

5. The automatic refractory brick detection device according to claim 1, characterized in that, The detection device (2) includes: A second support plate (21), which is horizontally arranged and located below the clamping and conveying device (3). The second support plate (21) is used to support bricks, and the second support plate (21) can move relative to the machine body (1) in the vertical direction; A visual detection device (22) and a thickness detection device (23) arranged in sequence in the second direction. The visual detection device (22) and the thickness detection device (23) are located above the second support plate (21) and above the clamping and conveying device (3). The visual detection device (22) is used to detect the in-plane dimensions of the bricks on the second support plate (21), and the thickness detection device (23) is used to detect the vertical thickness of the bricks on the second support plate (21).

6. The automatic refractory brick detection device according to claim 5, characterized in that, The thickness detection device (23) includes: A mounting seat (231), which is connected to the machine body (1) and is horizontally arranged. The mounting seat (231) can move relative to the machine body (1) in the vertical direction; Two detection components, which are connected to the mounting seat (231) and are located at the bottom of the mounting seat (231). The two detection components are arranged at intervals in the first direction. The detection component includes two contact displacement sensors (232). The two contact displacement sensors (232) are arranged at intervals in the second direction. At least one detection component can move relative to the mounting seat (231) in the first direction, and the contact displacement sensor (232) can move relative to the mounting seat (231) in the second direction.

7. The automatic refractory brick detection device according to claim 5, characterized in that: Support bar groups are respectively provided in the areas below the visual detection device (22) and the thickness detection device (23) on the top of the second support plate (21). The support bar group includes a plurality of horizontally arranged and parallel support bars (211). The plurality of support bars (211) are arranged at intervals in the first direction, and the top heights of the plurality of support bars (211) are the same.

8. The automatic inspection equipment for refractory bricks according to claim 1, characterized in that: A cleaning device (6) is provided on the machine body (1). The cleaning device (6), the detection device (2), and the attitude adjustment device (4) are arranged in sequence along the second direction. The cleaning device (6) includes a fixed roller brush (62) and a movable roller brush (61) that are arranged at intervals in the vertical direction. The axes of the fixed roller brush (62) and the movable roller brush (61) are both parallel to the first direction. The fixed roller brush (62) is rotatably connected to the machine body (1) and is located below the clamping and conveying device (3). The movable roller brush (61) is rotatably connected to the machine body (1) and is located above the clamping and conveying device (3), and the movable roller brush (61) can move in the vertical direction or remain in a set position.

9. The automatic refractory brick detection device according to claim 1, characterized in that: A third supporting plate (5) for supporting bricks is provided on the machine body (1). The third supporting plate (5), the detection device (2), and the attitude adjustment device (4) are arranged in sequence along the second direction. The third supporting plate (5) is horizontally arranged and is located below the clamping and conveying device (3), and the third supporting plate (5) can move in the vertical direction or remain in a set position.

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