Automatic unstacking and stacking device for refractory bricks

Abstract

An automatic unstacking and stacking device for refractory bricks belongs to the technical field of refractory brick stacking and comprises two unstacking line structures, two two-layer conveying structures, two flat brick conveying structures, two conveying line mechanical arm polishing structures, two paint dispensing blocking conveying structures, two brick detecting structures and two mechanical arm stacking structures. The two unstacking line structures comprise a base truss, a gear shaping side pushing mechanism is started to push bricks to a good product stacking area, after a twenty-fourth sensor set senses the bricks, the gear shaping side pushing mechanism retracts, and meanwhile a stacking mechanical arm is started to place the bricks on a stacking area tray. After detection is completed, defective bricks are located at an inlet of the to-be-stacked area and jacked by the jacking roller assembly, meanwhile, the gear shaping lateral pushing mechanism is started, the defective bricks are conveyed to the defective product stacking area, after the defective bricks are full of four bricks, the twenty-fifth sensor set is started, the stacking mechanical arm conducts stacking, grabbing and placing on a tray of the stacking area, and the actions are circulated; therefore, the purposes of automatically stacking and reducing manual intervention are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of refractory brick stacking, and specifically provides an automatic refractory brick unstacking and stacking device. Background Art

[0002] Refractory materials are generally divided into two types, namely unshaped refractory materials and shaped refractory materials. Unshaped refractory materials, also known as castables, are a mixture of powdery particles composed of various aggregates or fillers and one or more binders. When in use, they must be mixed and stirred evenly with one or more liquids and have strong fluidity. Shaped refractory materials generally refer to refractory bricks, which have standard regular shapes and can also be temporarily processed during cutting according to needs.

[0003] There are two existing methods for stacking refractory bricks: manual unstacking and stacking, and semi-automatic unstacking and stacking. Manual unstacking and stacking uses a conveyor line to complete screening, grinding, dot painting, and inkjet coding, and finally manual stacking. This method has a large workload, requires a large number of workers, and poses safety risks. For the semi-automatic unstacking line, manual unstacking is required, and the bricks are placed on the conveyor line. Manual grinding and screening are completed by workers, and subsequent dot painting, inkjet coding, and stacking are automatically completed by equipment. Compared with the manual line, the number of workers required is reduced, but there are still safety risks and the workload is relatively large. Compared with manual inspection of the size and surface defects of bricks, automatic equipment inspection does not have problems such as fatigue, misjudgment, or missed judgment. Based on the deficiencies of the existing technology, the present invention designs an automatic refractory brick unstacking and stacking device. Summary of the Invention

[0004] The present invention provides an automatic refractory brick unstacking and stacking device, which has the advantages of automatic stacking and reduced manual intervention, and solves the problems mentioned in the above background art.

[0005] The present invention provides the following technical solution: an automatic refractory brick unstacking and palletizing device, including two sets of unstacking line structures, two sets of second-layer conveying structures, two sets of flat brick conveying structures, two sets of conveying line robotic arm grinding structures, two sets of paint dotting and blocking conveying structures, two sets of brick detection structures, and two sets of robotic arm palletizing structures. The two sets of unstacking line structures include base trusses. At the top of the two base trusses, there are unstacking robotic arms. At the ends of the two unstacking robotic arms, 3D cameras are fixedly installed. On one side of the outer surfaces of the two 3D cameras, vacuum sponge suction cup jigs are fixedly installed. On one side of the two vacuum sponge suction cup jigs, there are multiple blow-dust nozzles. The two sets of robotic arm palletizing structures include double-row roller lines. On one side at the top of the two double-row roller lines, there are side push cylinders. On one side of the outer surfaces of the two double-row roller lines, side push cylinders are fixedly installed. Below the two double-row roller lines, an interlocking side push mechanism is fixedly installed. On one side of the outer surfaces of the two double-row roller lines, there is a lifting roller assembly. Above the two double-row roller lines, there is a blocking assembly. On one side of the two, there is a twenty-first sensor group. On one side of the two, there is a twenty-second sensor group. On one side of the two double-row roller lines, there is a twenty-third sensor group. On one side of the two double-row roller lines, there is a twenty-fourth sensor group. On one side of the two double-row roller lines, there is a twenty-fifth sensor group.

[0006] As a preferred technical solution of the present invention, the two second-layer conveying structures include second-layer conveying machine frames. At the top of the two second-layer conveying machine frames, there are vertical brick buffer belt lines. On one side of the two vertical brick buffer belt lines, there is a brick centering mechanism.

[0007] As a preferred technical solution of the present invention, a flipping mechanism is sleeved inside the two brick centering mechanisms. On one side of the two vertical brick buffer belt lines, there is a short flat belt. On one side of the short flat belt, there is a chute.

[0008] As a preferred technical solution of the present invention, at one end of the two second-layer conveying machine frames, a fourth group of sensors is fixedly installed. At the top of the two second-layer conveying machine frames, a first group of sensors is fixedly installed. At the top of the two second-layer conveying machine frames, a second group of sensors is fixedly installed. At the top of the two second-layer conveying machine frames, a third group of sensors is fixedly installed.

[0009] As a preferred technical solution of the present invention, the two flat brick conveying structures include flat brick conveying roller lines. On one side of the two flat brick conveying roller lines, a side push mechanism is fixedly installed.

[0010] As a preferred technical solution of the present invention, on one side at the top of the two side push mechanisms, a fifth group of sensors is fixedly installed. On one side at the top of the two flat brick conveying roller lines, a sixth group of sensors is fixedly installed.

[0011] As a preferred technical solution of the present invention, the two conveying line robotic arm grinding structures include flat brick conveying lines. On one side of the two flat brick conveying lines, there is a double-row roller line. Inside the double-row roller lines of the two flat brick conveying lines, there is a lifting roller blocking assembly. On one side of the two lifting roller blocking assemblies, there is a long rod side-pushing mechanism. On one side of the two flat brick conveying lines, there is a short rod side-pushing mechanism fixedly installed. On one side of the two flat brick conveying lines, there is a blocking mechanism. Inside the two blocking mechanisms, there is a lifting and transplanting mechanism.

[0012] As a preferred technical solution of the present invention, on the top of the two flat brick conveying lines, there are seventh groups of sensors fixedly installed, eighth groups of sensors fixedly installed, ninth groups of sensors fixedly installed, tenth groups of sensors fixedly installed, eleventh groups of sensors fixedly installed. On one side of the two blocking mechanisms, there are twelfth groups of sensors fixedly installed, thirteenth groups of sensors fixedly installed, fourteenth groups of sensors fixedly installed, and fifteenth groups of sensors fixedly installed.

[0013] As a preferred technical solution of the present invention, the two paint-blocking conveying structures include roller lines. On one side of the two roller lines, there is a paint application mechanism fixedly installed. Inside the two roller lines, there is a paint-blocking mechanism fixedly installed. On the top of the two roller lines, there is a dust-sweeping mechanism fixedly installed. Inside the two roller lines, there are sixteenth groups of sensors.

[0014] As a preferred technical solution of the present invention, the two brick detection structures include synchronous belt lines. On one side of the two synchronous belt lines, there is a centering mechanism fixedly installed. On one side of the two centering mechanisms, there is a point laser sensor group fixedly installed. On one side of the two synchronous belt lines, there is a coding device fixedly installed. Inside the two coding devices, there is a line-scanning camera fixedly installed. At the ends of the two synchronous belt lines, there is a guide wheel group fixedly installed. On the top of the two synchronous belt lines, there are seventeenth groups of sensors fixedly installed, eighteenth groups of sensors fixedly installed. On the top of the two synchronous belt lines, there are nineteenth groups of sensors arranged, and twentieth groups of sensors arranged.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. This set of automatic refractory brick depalletizing and stacking device, through the depalletizing line structure and the robotic arm stacking structure, after the kiln car is in place, the code scanning system is started, the corresponding brick type is input on the touch screen, the corresponding program is allocated, the depalletizing robotic arm drives the 3D camera to take pictures, and after the picture is taken, the data is transmitted to the central control machine, and the depalletizing data is sent via the PLC. The depalletizing robotic arm absorbs the bricks and conveys them to the vertical brick buffer belt line. After passing through the conveyor line robotic arm grinding structure, the paint blocking conveying structure, and the brick detection structure construction monitoring, the good products flow into the waiting area for stacking. At the entrance of the waiting area for stacking, before the blocking component is raised, the twenty-first sensor group detects the bricks, the blocking component is lowered, and the bricks flow into the good product stacking waiting area After four bricks flow in, the 22nd sensor group and the 23rd sensor group sense the bricks, and the toothed side push mechanism starts to push the bricks to the good product stacking area. After the 24th sensor group senses the bricks, the toothed side push mechanism retracts, and the stacking robot arm starts to place them on the pallet in the stacking area. After the detection is completed, the defective bricks are lifted at the entrance of the stacking area, and the toothed side push mechanism starts to transport the defective bricks to the defective stacking area. After four bricks are filled, the 25th sensor group starts, and the stacking robot arm grabs them for stacking and places them on the pallet in the stacking area. The above actions are repeated, thereby achieving the purpose of automatic stacking and reducing manual intervention.

[0017] 2. This set of refractory brick automatic disassembly and stacking device, through the two-layer conveying structure, flat brick conveying structure, and conveyor line mechanical arm grinding structure, after the first set of sensors senses the bricks, the brick centering mechanism starts, and after the centering is completed, the vertical brick buffer belt line starts, and the bricks are transported to the flipping mechanism. The second set of sensors detects the bricks, and the flipping mechanism starts. After flipping, the third set of sensors detects the bricks, and the short flat belt starts. The bricks are transported to the chute and arrive at the tipping bucket of the chute. The fourth set of sensors detects the bricks. After the tipping bucket is opened, the bricks slide down to the flat brick conveyor line. The eighth group of sensors detects bricks, and the flat brick conveyor line starts. The ninth group of sensors detects bricks, and the chute bucket closes. After entering the double-row roller line, the tenth group of sensors detects bricks, and the buffer area blocking mechanism rises. After the second brick reaches the blocking mechanism, the eleventh group of sensors detects bricks, and the blocking mechanism rises. At the same time, the long-rod side-pushing mechanism starts to send the brick to the grinding area. The twelfth and thirteenth groups of sensors detect bricks, and the short-rod side-pushing mechanism starts to clamp the bricks. The grinding robot arm starts, and grinding can be carried out.

[0018] 3. This set of automatic refractory brick unstacking and stacking device, through the paint - dotting blocking and conveying structure and the brick detection structure, after grinding is completed, the roller line starts. When the brick reaches the area of the lifting and transplanting mechanism, the fifteenth group of sensors detects the brick, and the lifting and transplanting mechanism starts to lift and convey. At the same time, the lifting roller blocking assembly starts. When the second brick reaches in front of the lifting roller blocking assembly, the fourteenth group of sensors detects the brick, and the roller line stops rotating. The brick is conveyed to the next - stage roller line through the lifting and transplanting mechanism. When the brick reaches in front of the paint - dotting blocking mechanism, the sixteenth group of sensors detects the brick, the paint - dotting blocking mechanism rises, the paint - dotting structure starts, and after the paint - dotting is completed, the paint - dotting blocking mechanism descends. After passing through the ash - sweeping mechanism, the seventeenth group of sensors senses the brick, the synchronous belt line starts. After entering the synchronous belt line, the eighteenth group of sensors senses the brick, and the centering mechanism starts. After centering is completed, the dot - laser sensor group starts to detect. After the detection is completed, the brick continues to be conveyed. The nineteenth group of sensors detects the brick, the ink - jet printing device starts, and the twentieth group of sensors detects the brick, and the line - scanning camera starts to complete the detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the unstacking line structure of the present invention;

[0021] Figure 3 It is a schematic diagram of the two - layer conveying structure of the present invention;

[0022] Figure 4 It is a schematic diagram of the grinding structure of the robotic arm on the conveying line of the present invention;

[0023] Figure 5 It is a schematic diagram of the brick detection structure of the present invention.

[0024] In the figure: 1. Depalletizing line structure; 2. Second - layer conveying structure; 3. Flat brick conveying structure; 4. Conveyor - line robotic arm grinding structure; 5. Point - painting blocking conveying structure; 6. Brick detection structure; 7. Robotic arm palletizing structure; 11. Base truss; 12. Depalletizing robotic arm; 13. 3D camera; 14. Vacuum sponge suction cup fixture; 15. Dust - blowing nozzle; 21. Second - layer conveying machine frame; 22. Vertical brick buffer belt line; 23. Brick centering mechanism; 24. Flipping mechanism; 25. Short flat belt; 26. Chute; 27. First group of sensors; 28. Second group of sensors; 29. Third group of sensors; 210. Fourth group of sensors; 31. Flat brick conveying roller line; 32. Side - pushing mechanism; 33. Fifth group of sensors; 34. Sixth group of sensors; 42. Flat brick conveying line; 43. Double - row roller line; 44. Lifting roller blocking assembly; 45. Long - rod side - pushing mechanism; 46. Short - rod side - pushing mechanism; 47. Blocking mechanism; 48. Lifting and transplanting mechanism; 49. Seventh group of sensors; 410. Eighth group of sensors; 411. Ninth group of sensors; 412. Tenth group of sensors; 413. Eleventh group of sensors; 414. Twelfth group of sensors; 415. Thirteenth group of sensors; 416. Fourteenth group of sensors; 417. Fifteenth group of sensors; 51. Roller line; 52. Point - painting mechanism; 53. Point - painting blocking mechanism; 54. Dust - sweeping mechanism; 55. Sixteenth group of sensors; 61. Synchronous belt line; 62. Centering mechanism; 63. Point - laser sensor group; 64. Ink - jet printing equipment; 65. Line - scan camera; 66. Guide wheel group; 67. Seventeenth group of sensors; 68. Eighteenth group of sensors; 69. Nineteenth group of sensors; 610. Twentieth group of sensors; 73. Double - row roller line; 74. Side - pushing cylinder; 75. Gear - shaping side - pushing mechanism; 76. Lifting roller assembly; 77. Blocking assembly; 78. Twenty - first sensor group; 79. Twenty - second sensor group; 710. Twenty - third sensor group; 711. Twenty - fourth sensor group; 712. Twenty - fifth sensor group. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to Figures 1-5, an automatic refractory brick unstacking and palletizing device, including two sets of unstacking line structures 1, two sets of second-layer conveying structures 2, two sets of flat brick conveying structures 3, two sets of conveying line robotic arm grinding structures 4, two sets of paint dotting and blocking conveying structures 5, two sets of brick detection structures 6, and two sets of robotic arm palletizing structures 7. The two sets of unstacking line structures 1 include a base truss 11. At the top of the two base trusses 11, there are unstacking robotic arms 12. At the ends of the two unstacking robotic arms 12, 3D cameras 13 are fixedly installed. On one side of the outer surfaces of the two 3D cameras 13, vacuum sponge suction cup jigs 14 are fixedly installed. On one side of the two vacuum sponge suction cup jigs 14, there are multiple dust blowing nozzles 15. The two sets of robotic arm palletizing structures 7 include double-row roller lines 73. On one side of the top of the two double-row roller lines 73, there are side push cylinders 74. On one side of the outer surfaces of the two double-row roller lines 73, side push cylinders 74 are fixedly installed. Below the two double-row roller lines 73, an internal gear side push mechanism 75 is fixedly installed. On one side of the outer surfaces of the two double-row roller lines 73, there is a lifting roller assembly 76. Above the two double-row roller lines 73, there is a blocking assembly 77. On one side of the two 73s, there is a twenty-first sensor group 78. On one side of the two 73s, there is a twenty-second sensor group 79. On one side of the two double-row roller lines 73, there is a twenty-third sensor group 710. On one side of the two double-row roller lines 73, there is a twenty-fourth sensor group 711. On one side of the two double-row roller lines 73, there is a twenty-fifth sensor group 712.

[0027] Please refer to Figures 3-4, a flipping mechanism 24 is sleeved inside the centering mechanism 23 of the two bricks. A short flat belt 25 is arranged on one side of the two vertical brick buffer belt lines 22, and a chute 26 is opened on one side of the two short flat belts 25. A fourth group of sensors 210 is fixedly installed at one end of the two second-layer conveyor racks 21. A first group of sensors 27 is fixedly installed on the top of the two second-layer conveyor racks 21. A second group of sensors 28 is fixedly installed on the top of the two second-layer conveyor racks 21. A third group of sensors 29 is fixedly installed on the top of the two second-layer conveyor racks 21. The two flat brick conveying structures 3 include flat brick conveying roller lines 31, and a side pushing mechanism 32 is fixedly installed on one side of the two flat brick conveying roller lines 31. A fifth group of sensors 33 is fixedly installed on one side of the top of the two side pushing mechanisms 32. A sixth group of sensors 34 is fixedly installed on one side of the top of the two flat brick conveying roller lines 31. The two conveyor line robotic arm grinding structures 4 include flat brick conveying lines 42. A double-row roller line 43 is arranged on one side of the two flat brick conveying lines 42. A lifting roller blocking assembly 44 is arranged inside the double-row roller line 43 of the two flat brick conveying lines 42. A long rod side pushing mechanism 45 is arranged on one side of the two lifting roller blocking assemblies 44. A short rod side pushing mechanism 46 is fixedly installed on one side of the two flat brick conveying lines 42. A blocking mechanism 47 is arranged on one side of the two flat brick conveying lines 42. A lifting and transplanting mechanism 48 is arranged inside the two blocking mechanisms 47. A seventh group of sensors 49 is fixedly installed on the top of the two flat brick conveying lines 42. An eighth group of sensors 410 is fixedly installed on the top of the two flat brick conveying lines 42. A ninth group of sensors 411 is fixedly installed on the top of the two flat brick conveying lines 42. A tenth group of sensors 412 is fixedly installed on the top of the two flat brick conveying lines 42. An eleventh group of sensors 413 is fixedly installed on the top of the two flat brick conveying lines 42. A twelfth group of sensors 414 is fixedly installed on one side of the two blocking mechanisms 47. A thirteenth group of sensors 415 is fixedly installed on one side of the two blocking mechanisms 47. A fourteenth group of sensors 416 is fixedly installed on one side of the two blocking mechanisms 47. A fifteenth group of sensors 417 is fixedly installed on one side of the two blocking mechanisms 47.

[0028] After the first group of sensors 27 sense the bricks, the brick centering mechanism 23 is activated. After centering is completed, the vertical brick buffer belt line 22 is activated, and the bricks are conveyed to the flipping mechanism 24. The second group of sensors 28 detect the bricks, and the flipping mechanism 24 is activated. After flipping, the third group of sensors 29 detect the bricks, and the short and flat belt 25 is activated. The bricks are conveyed to the chute 26 and reach the tipping bucket of the chute 26. The fourth group of sensors 210 detect the bricks. After the tipping bucket is opened, the bricks slide down to the flat brick conveying line 42. The eighth group of sensors 410 detect the bricks, and the flat brick conveying line 42 is activated. The ninth group of sensors 411 detect the bricks, and the tipping bucket of the chute 26 is closed. After entering the double-row roller line 43, the tenth group of sensors 412 detect the bricks, and the buffer area blocking mechanism 47 rises. After the second brick reaches the blocking mechanism 47, the eleventh group of sensors 413 detect the bricks, and the blocking mechanism 47 rises. At the same time, the long rod side-pushing mechanism 45 is activated to send the bricks to the grinding area. The twelfth group of sensors 414 and the thirteenth group of sensors 415 detect the bricks, and the short rod side-pushing mechanism 46 is activated to clamp the bricks, and the grinding robotic arm is activated, and thus the grinding work can be carried out.

[0029] Please refer to Figure 1 and Figure 5 , the two dot-painting blocking and conveying structures 5 include roller lines 51. On one side of the two roller lines 51, dot-painting mechanisms 52 are fixedly installed. Inside the two roller lines 51, dot-painting blocking mechanisms 53 are fixedly installed. On the top of the two roller lines 51, dust-sweeping mechanisms 54 are fixedly installed. Inside the two roller lines 51, the sixteenth group of sensors 55 are arranged. The two brick detection structures 6 include synchronous belt lines 61. On one side of the two synchronous belt lines 61, centering mechanisms 62 are fixedly installed. On one side of the two centering mechanisms 62, dot laser sensor groups 63 are fixedly installed. On one side of the two synchronous belt lines 61, inkjet coding devices 64 are fixedly installed. Inside the two inkjet coding devices 64, line scan cameras 65 are fixedly installed. At the ends of the two synchronous belt lines 61, guide wheel groups 66 are fixedly installed. On the top of the two synchronous belt lines 61, the seventeenth group of sensors 67 are fixedly installed. On the two synchronous belt lines 61, the eighteenth group of sensors 68 are fixedly installed. On the top of the two synchronous belt lines 61, the nineteenth group of sensors 69 are arranged. On the top of the two synchronous belt lines 61, the twentieth group of sensors 610 are arranged.

[0030] After grinding is completed, the roller conveyor line 51 starts. When the brick reaches the area of the lifting and transferring mechanism 48, the fifteenth group of sensors 417 detects the brick, and the lifting and transferring mechanism 48 starts to lift and convey. At the same time, the lifting roller blocking assembly 44 starts. When the second brick reaches in front of the lifting roller blocking assembly 44, the fourteenth group of sensors 416 detects the brick, and the roller conveyor line 51 stops rotating. The brick is conveyed to the next section of the roller conveyor line 51 through the lifting and transferring mechanism 48. When the brick reaches in front of the paint - dotting blocking mechanism 53, the sixteenth group of sensors 55 detects the brick, and the paint - dotting blocking mechanism 53 rises. The paint - dotting structure starts, and after the paint - dotting is completed, the paint - dotting blocking mechanism 53 descends. After passing through the dust - sweeping mechanism 54, the seventeenth group of sensors 67 senses the brick, and the synchronous belt conveyor line 61 starts. After entering the synchronous belt conveyor line 61, the eighteenth group of sensors 68 senses the brick, and the centering mechanism 62 starts. After centering is completed, the dot - laser sensor group 63 starts to detect. After the detection is completed, the brick continues to be conveyed. The nineteenth group of sensors 69 detects the brick, and the ink - jet coding device 64 starts. The twentieth group of sensors 610 detects the brick, and the line - scan camera 65 starts, and the detection is completed.

[0031] Working principle: When a set of refractory brick automatic palletizing and depalletizing device is in use, when performing the vertical brick palletizing and depalletizing work, after the kiln car arrives, the barcode scanning system is started. The corresponding brick type is input on the touch screen, and the corresponding program is allocated. The depalletizing robotic arm 12 drives the 3D camera 13 to take pictures. After the picture taking is completed, the data is transmitted to the central control unit, and the depalletizing data is sent via the PLC. After the depalletizing robotic arm 12 sucks the bricks, the bricks are conveyed to the vertical brick buffer belt line 22. After the first group of sensors 27 senses the bricks, the brick centering mechanism 23 is started. After centering is completed, the vertical brick buffer belt line 22 is started, and the bricks are conveyed to the turning mechanism 24. After the second group of sensors 28 detects the bricks, the turning mechanism 24 is started. After turning, the third group of sensors 29 detects the bricks, and the short and flat belt 25 is started. The bricks are conveyed to the chute 26 and reach the tipping bucket of the chute 26. After the fourth group of sensors 210 detects the bricks, after the tipping bucket is opened, the bricks slide down to the flat brick conveyor line 42. After the eighth group of sensors 410 detects the bricks, the flat brick conveyor line 42 is started. After the ninth group of sensors 411 detects the bricks, the tipping bucket of the chute 26 is closed. After entering the double-row roller line 43, the tenth group of sensors 412 detects the bricks, and the buffer area blocking mechanism 47 rises. After the second brick reaches the blocking mechanism 47, the eleventh group of sensors 413 detects the bricks, and the blocking mechanism 47 rises. At the same time, the long rod side-pushing mechanism 45 is started to send the bricks to the grinding area. After the twelfth group of sensors 414 and the thirteenth group of sensors 415 detect the bricks, the short rod side-pushing mechanism 46 is started to clamp the bricks, and the grinding robotic arm is started, and thus the grinding work can be carried out. After the grinding is completed, the roller line 51 is started, and the bricks reach the area of the lifting and transplanting mechanism 48. After the fifteenth group of sensors 417 detects the bricks, the lifting and transplanting mechanism 48 is started to lift and convey, and at the same time, the lifting roller blocking assembly 44 is started. Before the second brick reaches the lifting roller blocking assembly 44, the fourteenth group of sensors 416 detects the bricks, and the roller line 51 stops rotating. The bricks are conveyed by the lifting and transplanting mechanism 48 to the next section of the roller line 51. Before the bricks reach the paint dotting blocking mechanism 53, the sixteenth group of sensors 55 detects the bricks, and the paint dotting blocking mechanism 53 rises, and the paint dotting structure is started to complete the paint dotting. The paint dotting blocking mechanism 53 descends, and after passing through the ash sweeping mechanism 54, the seventeenth group of sensors 67 senses the bricks, and the synchronous belt line 61 is started. After entering the synchronous belt line 61, the eighteenth group of sensors 68 senses the bricks, and the centering mechanism 62 is started. After centering is completed, the dot laser sensor group 63 is started for detection. After the detection is completed, the bricks continue to be conveyed. After the nineteenth group of sensors 69 detects the bricks, the inkjet equipment 64 is started. After the twentieth group of sensors 610 detects the bricks, the line scan camera 65 is started to complete the detection. After construction monitoring of the conveyor line robotic arm grinding structure 4, the paint dotting blocking and conveying structure 5, and the brick detection structure 6, the qualified products flow into the waiting area for palletizing. At the entrance of the waiting area for palletizing, before the blocking assembly 77 rises, the twenty-first sensor group 78 detects the bricks, and the blocking assembly 77 descends, and the bricks flow into the waiting area for palletizing of qualified products. After four bricks flow in,After the twenty-second sensor group 79 and the twenty-third sensor group 710 sense the bricks, the pinion side-pushing mechanism 75 is activated to push the bricks to the good product stacking area. After the twenty-fourth sensor group 711 senses the bricks, the pinion side-pushing mechanism 75 retracts, and at the same time, the stacking robot arm is activated to place the bricks on the pallet in the stacking area. After the detection is completed, the defective bricks are lifted by the lifting roller assembly 76 at the entrance of the area to be stacked. At the same time, the pinion side-pushing mechanism 75 is activated to convey the defective bricks to the defective product stacking area. After four bricks are full, the twenty-fifth sensor group 712 is activated, and the stacking robot arm performs stacking and grasping and places the bricks on the pallet in the stacking area, and the above actions are cycled. During the process of flat brick unstacking and stacking, after the unstacking robot arm 12 picks up the flat bricks, the bricks are conveyed to the flat brick conveying roller line 31. The fifth group of sensors 33 sense the bricks, and the flat brick conveying roller line 31 is activated to convey the bricks to the end of the flat brick conveying roller line 31. The sixth group of sensors 34 activates the side-pushing, and after the seventh group of sensors 49 sense the bricks, the flat brick conveying line 42 is activated, and at the same time, the side-pushing mechanism 32 retracts. After entering the double-row roller line 43, the tenth group of sensors 412 detect the bricks, and the buffer area blocking mechanism 47 rises. After the second brick reaches the blocking mechanism 47, the eleventh group of sensors 413 detect the bricks, and the lifting and transplanting mechanism 48 rises. At the same time, the long rod side-pushing mechanism 45 is activated to send the bricks to the grinding area. The twelfth group of sensors 414 and the thirteenth group of sensors 415 detect the bricks, and the short rod side-pushing mechanism 46 is activated to clamp the bricks. The grinding robot arm is activated. After the grinding is completed, the roller line 51 is activated, and the bricks reach the lifting and transplanting area. The fifteenth group of sensors 417 detect the bricks, and the lifting and transplanting mechanism 48 is activated to lift and convey. At the same time, the lifting roller blocking assembly 44 is activated. Before the second brick reaches the blocking mechanism 47, the fourteenth group of sensors 416 detect the bricks, and the roller line 51 stops rotating. The bricks are conveyed to the next section of the roller line 51 through the lifting and transplanting. Before the bricks reach the paint-pointing blocking mechanism 53, the sixteenth group of sensors 55 detect the bricks, and the paint-pointing blocking mechanism 53 rises. The paint-pointing structure is activated. After the paint-pointing is completed, the paint-pointing blocking mechanism 53 descends. After passing through the ash-sweeping mechanism 54, the seventeenth group of sensors 67 sense the bricks, and the synchronous belt line 61 is activated to enter the synchronous belt line 61. The eighteenth group of sensors 68 sense the bricks, and the centering mechanism 62 is activated. After the centering is completed, the dot laser sensor group 63 is activated for detection. After the detection is completed, the bricks continue to be conveyed. The nineteenth group of sensors 69 detect the bricks, and the inkjet equipment 64 is activated. The twentieth group of sensors 610 detect the bricks, and the line scan camera 65 is activated. After the detection is completed, the good products flow into the area to be stacked. At the entrance of the area to be stacked, before the blocking assembly 77 rises, the twenty-first sensor group 78 detects the bricks, and the blocking assembly 77 descends. The bricks flow into the good product stacking waiting area. After four bricks flow in, after the twenty-second sensor group 79 and the twenty-third sensor group 710 sense the bricks, the pinion side-pushing mechanism 75 is activated to push the bricks to the good product stacking area. After the twenty-fourth sensor group 711 senses the bricks, the pinion side-pushing mechanism 75 retracts,Meanwhile, the palletizing robotic arm starts and is placed on the pallet in the palletizing area. After the inspection is completed, the defective bricks are at the entrance of the area to be palletized. The lifting roller assembly 76 lifts, and at the same time, the gear shaper side-pushing mechanism 75 starts. The defective bricks are conveyed to the defective palletizing area. After four bricks are full, the twenty-fifth sensor group 712 starts. The palletizing robotic arm performs palletizing and grasping and is placed on the pallet in the palletizing area. The above actions are repeated.

[0032] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0033] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic refractory brick unstacking and stacking device, comprising two sets of unstacking line structures (1), two sets of two-layer conveying structures (2), two sets of flat brick conveying structures (3), two sets of conveying line robotic arm grinding structures (4), two sets of paint dotting and blocking conveying structures (5), two sets of brick detection structures (6), and two sets of robotic arm stacking structures (7), characterized in that: The two sets of the palletizing line structures (1) include a base truss (11). At the top of the two base trusses (11), there are palletizing robotic arms (12). At the ends of the two palletizing robotic arms (12), 3D cameras (13) are fixedly installed. On one side of the outer surfaces of the two 3D cameras (13), vacuum sponge suction cup jigs (14) are fixedly installed. On one side of the two vacuum sponge suction cup jigs (14), there are multiple soot-blowing nozzles (15). The two sets of the robotic arm palletizing structures (7) include double-row roller lines (73). On one side of the tops of the two double-row roller lines (73), there are side-pushing cylinders (74). On one side of the outer surfaces of the two double-row roller lines (73), side-pushing cylinders (74) are fixedly installed. Below the two double-row roller lines (73), a gear shaper side-pushing mechanism (75) is fixedly installed. On one side of the outer surfaces of the two double-row roller lines (73), there is a lifting roller assembly (76). Above the two double-row roller lines (73), there is a blocking assembly (77). On one side of the two (73), there is a twenty-first sensor group (78). On one side of the two (73), there is a twenty-second sensor group (79). On one side of the two double-row roller lines (73), there is a twenty-third sensor group (710). On one side of the two double-row roller lines (73), there is a twenty-fourth sensor group (711). On one side of the two double-row roller lines (73), there is a twenty-fifth sensor group (712).

2. The automatic brick-unstacking and stacking device for refractory bricks according to claim 1, characterized in that: The two sets of the second-layer conveying structures (2) include second-layer conveying racks (21). At the top of the two second-layer conveying racks (21), there are vertical brick buffer belt lines (22). On one side of the two vertical brick buffer belt lines (22), there is a brick centering mechanism (23).

3. The automatic brick-unstacking and stacking device for refractory bricks according to claim 2, wherein: Inside the two brick centering mechanisms (23), a flipping mechanism (24) is sleeved. On one side of the two vertical brick buffer belt lines (22), there is a short flat belt (25). On one side of the short flat belt (25), there is a chute (26).

4. The automatic brick-unstacking and stacking device for refractory bricks according to claim 2, characterized in that: At one end of the two second-layer conveying racks (21), a fourth group of sensors (210) are fixedly installed. At the top of the two second-layer conveying racks (21), a first group of sensors (27) are fixedly installed. At the top of the two second-layer conveying racks (21), a second group of sensors (28) are fixedly installed. At the top of the two second-layer conveying racks (21), a third group of sensors (29) are fixedly installed.

5. The automatic brick-unstacking and stacking device for refractory bricks according to claim 1, characterized in that: The two sets of the flat brick conveying structures (3) include flat brick conveying roller lines (31). On one side of the two flat brick conveying roller lines (31), a side-pushing mechanism (32) is fixedly installed.

6. The automatic brick unstacking and stacking device for refractory bricks according to claim 5, characterized in that: On one side of the tops of the two side-pushing mechanisms (32), a fifth group of sensors (33) are fixedly installed. On one side of the tops of the two flat brick conveying roller lines (31), a sixth group of sensors (34) are fixedly installed.

7. The automatic brick-unstacking and stacking device for refractory bricks according to claim 1, characterized in that: The two conveying line robotic arm grinding structures (4) include flat brick conveying lines (42). On one side of the two flat brick conveying lines (42), there is a double-row roller line (43). Inside the double-row roller lines (43) of the two flat brick conveying lines (42), there is a lifting roller blocking assembly (44). On one side of the two lifting roller blocking assemblies (44), there is a long rod side-pushing mechanism (45). On one side of the two flat brick conveying lines (42), there is a short rod side-pushing mechanism (46) fixedly installed. On one side of the two flat brick conveying lines (42), there is a blocking mechanism (47). Inside the two blocking mechanisms (47), there is a lifting and transplanting mechanism (48).

8. The automatic brick-unstacking and stacking device for refractory bricks according to claim 7, characterized in that: On the top of the two flat brick conveying lines (42), there is a seventh group of sensors (49) fixedly installed. On the top of the two flat brick conveying lines (42), there is an eighth group of sensors (410) fixedly installed. On the top of the two flat brick conveying lines (42), there is a ninth group of sensors (411) fixedly installed. On the top of the two flat brick conveying lines (42), there is a tenth group of sensors (412) fixedly installed. On the top of the two flat brick conveying lines (42), there is an eleventh group of sensors (413) fixedly installed. On one side of the two blocking mechanisms (47), there is a twelfth group of sensors (414) fixedly installed. On one side of the two blocking mechanisms (47), there is a thirteenth group of sensors (415) fixedly installed. On one side of the two blocking mechanisms (47), there is a fourteenth group of sensors (416) fixedly installed. On one side of the two blocking mechanisms (47), there is a fifteenth group of sensors (417) fixedly installed.

9. The automatic brick-unstacking and stacking device for refractory bricks according to claim 1, wherein: The two paint blocking and conveying structures (5) include roller lines (51). On one side of the two roller lines (51), there is a paint application mechanism (52) fixedly installed. Inside the two roller lines (51), there is a paint blocking mechanism (53) fixedly installed. On the top of the two roller lines (51), there is a dust sweeping mechanism (54) fixedly installed. Inside the two roller lines (51), there is a sixteenth group of sensors (55).

10. The automatic brick-unstacking and stacking device for refractory bricks according to claim 1, characterized in that: The two brick detection structures (6) include synchronous belt lines (61). On one side of the two synchronous belt lines (61), there is a centering mechanism (62) fixedly installed. On one side of the two centering mechanisms (62), there is a dot laser sensor group (63) fixedly installed. On one side of the two synchronous belt lines (61), there is a coding device (64) fixedly installed. Inside the two coding devices (64), there is a line scan camera (65) fixedly installed. At the ends of the two synchronous belt lines (61), there is a guide wheel group (66) fixedly installed. On the top of the two synchronous belt lines (61), there is a seventeenth group of sensors (67) fixedly installed. The two synchronous belt lines (61) are fixedly installed with an eighteenth group of sensors (68). On the top of the two synchronous belt lines (61), there is a nineteenth group of sensors (69). On the top of the two synchronous belt lines (61), there is a twentieth group of sensors (610).

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