CN110803533A

CN110803533A - Multi-joint robot destacking and packaging production line

Info

Publication number: CN110803533A
Application number: CN201911277977.7A
Authority: CN
Inventors: 何仕杰
Original assignee: Xiangyang Yude Intelligent Technology Co Ltd
Current assignee: Xiangyang Yude Intelligent Technology Co Ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-02-18

Abstract

A multi-joint robot unstacking and packaging production line comprises large-span truss unstacking and loading equipment, a robot unstacking machine, a grouping machine, a stacking machine, a packaging machine and a second transfer conveyor, wherein the large-span truss unstacking and loading equipment is used for unloading a brick pile from a kiln car and conveying the brick pile to the stacking machine; the automatic continuous packaging machine realizes automatic continuous packaging, the packaged brick pile is tidy, the bricks are not easy to damage in the packaging process, and the production efficiency is greatly improved.

Description

Multi-joint robot destacking and packaging production line

Technical Field

The invention relates to the technical field of brick product packaging machinery, in particular to a multi-joint robot destacking and packaging production line.

Background

The bricks need to be packed after production for subsequent transportation. At present, the packaging method is limited by technology, all steps of packaging are not continuously carried out, the automation degree is not high, and manual assistance is required at all. Because the different types of bricks and the different batches of bricks need different stacking arrangements, a pile of bricks needs to be grouped to be packed.

The current equipment for unloading bricks from kiln cars has the following technical problems:

1. the span distance is short when the bricks are unloaded, so that the requirement on matching with other packing machines is high, the requirement on a packing construction site is high, the flexibility is poor, and the packing efficiency is limited;

2. the brick clamping mechanism in the equipment is unstable in clamping bricks, and the bricks are easy to fall off in the transportation process;

the brick clamping mechanism in the equipment is only suitable for brick types with slightly different strengths, can clamp and crush brick types such as wet bricks with lower strength and the like, and has poor applicability.

When bricks are packed, the requirements on the number of rows of bricks in a group of bricks are different according to different materials of the bricks and the requirements on subsequent packing, and the requirements on the number of blocks of the bricks in each row are all the same. The grouping machine in the prior art has low automation degree, can only compile brick groups with the same row number and the same block number in a row during grouping, and has narrow application range.

In addition, the following technical problems can occur in the grouping process, which seriously affect the production efficiency and the production quality.

1. Bricks are easy to adhere to each other, so that grouping errors occur;

2. the grouped brick groups are irregular, and gaps among the bricks are large;

3. the belt of the transmission brick group is easy to wear and is frequently required to be replaced and maintained;

4. brick slag is easily gathered on the upper surface of the brick group, and subsequent packing is influenced.

In conclusion, the brick pile packaging production line has the problems that the packaged brick piles are irregular, bricks are easy to damage, and the production efficiency is low.

Disclosure of Invention

In order to overcome the defects of the technology, the invention aims to provide the multi-joint robot unstacking and packaging production line, which realizes automatic continuous packaging, ensures that the packaged brick stacks are tidy, ensures that bricks are not easy to damage in the packaging process and greatly improves the production efficiency.

The technical scheme adopted by the invention is as follows: the utility model provides a multijoint robot packing production line that destacks, including being used for unloading the brick pillar from the kiln car and transporting the large-span truss on the whole buttress machine and unloading the loading equipment of loading, be used for transporting the whole buttress machine in proper order to the robot destacking machine on the first transmission conveyer in order the brick layer that the whole buttress machine was put in order, be used for the marshalling machine of the brick layer marshalling that the transmission conveyer transported, be used for the hacking machine that becomes the brick pillar with marshalling the brick layer subassembly, the baling press that packs the brick pillar of will marshalling and be used for transporting away the second transmission conveyer of the brick pillar that packs, large-span truss unloads brick loading equipment and includes the truss, the truss includes the crossbeam and sets up two first stands at the crossbeam both ends respectively, be provided with the dolly of reciprocal walking on the crossbeam on the truss, its characterized in that: be provided with the ground rail between two first stands, the top of ground rail supports on the crossbeam, the bottom fixedly connected with mount of dolly, be provided with on the mount and promote the electric hoist, the below of mount is provided with and promotes the spiral plate that is connected with promoting the electric hoist, it has a plurality of guide pillars to rise fixed mounting on the spiral plate, and every guide pillar is all worn to establish in a guide pin bushing subassembly, it has the gyration to prop to rise spiral plate bottom fixed mounting, and the gyration is supported the below and is provided with the double-layered brick mechanism that is used for cliping the brick, and double-layered brick mechanism supports with the gyration and is connected, the ground rail includes the second stand, second stand top is provided with the supporting seat, and the bottom is provided with.

Furthermore, the robot unstacker is provided with two, and the whole stacker is provided with four.

Further, it includes U type arm and two symmetries that open side down set up the subassembly that presss from both sides at U type arm both ends to press from both sides brick mechanism, it is articulated with the tip of U type arm including pressing from both sides leg, web, bottom plate, first spring, first rubber slab and the second rubber slab that sets up in U type arm below to press from both sides the subassembly, the middle part of pressing from both sides the leg is articulated through the tip of first articulated shaft with U type arm, and the lower part of pressing from both sides the leg is articulated through second articulated shaft and web, bottom plate and web fixed connection, first rubber slab pastes the upper portion of establishing the lateral wall of web one side is kept away from to the bottom plate, the second rubber slab pastes the lower part of establishing the lateral wall of web one side is kept away from to the bottom plate, the one end and the bottom plate fixed connection of first spring, the other end and press from the leg fixed connection, U type arm top is provided with and presss from both sides tight hydro-cylinder, The clamping mechanism comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is fixedly connected with the center of a gear, the other end of the first connecting rod is hinged with one end of the second connecting rod, the other end of the second connecting rod is hinged with the upper portions of clamping legs, two gears in two clamping assemblies are meshed with each other, the two clamping legs in the two clamping assemblies are fixedly connected with a telescopic rod and a cylinder body of a clamping oil cylinder respectively, a bottom plate and a web plate are arranged vertically, a brick pressing assembly is arranged on a U-shaped arm and comprises a brick pressing plate, four fixed columns and four second springs which are sleeved on the four fixed columns respectively, the brick pressing plate is arranged below the fixed columns, the upper portions of the fixed columns are fixedly connected with the U-shaped arm, a limiting ring is fixedly arranged in the middle of the fixed columns, the upper portions of the second springs abut against the limiting ring, and. The fixing frame comprises a rectangular plate arranged below the cross beam, the rectangular plate is fixedly connected with the cross beam through four connecting rods, the number of guide pillars is four, the four guide pillars are respectively arranged at four corners of the rectangular plate in a penetrating mode, the number of guide sleeve assemblies is four, the guide sleeve assemblies comprise a first guide sleeve, a connecting pipe and a second guide sleeve which are sequentially arranged on the guide pillars in a sleeved mode from top to bottom, two ends of the connecting pipe are respectively fixedly connected with the first guide sleeve and the second guide sleeve, and the first guide sleeve is fixedly connected with the rectangular plate.

Furthermore, the grouping machine comprises a chain conveying mechanism used for conveying bricks before grouping and a multi-stage conveying mechanism used for conveying the bricks after grouping, the output end of the chain conveying mechanism is provided with a block number control mechanism, the rear part of the output end of the chain conveying mechanism is provided with a right-angle turning mechanism used for grouping the bricks, the right-angle turning mechanism is arranged in front of the input end of the multi-stage conveying mechanism, the output end of the multi-stage conveying mechanism is provided with an adjustable brick blocking mechanism, the right-angle turning mechanism comprises a base, a first lifting frame arranged on the base, a limiting plate arranged on the first lifting frame, a first air cylinder, a first motor and a plurality of first rotating rollers driven by the first motor to rotate, the limiting plate is arranged at one end of the right-angle turning mechanism, which is far away from the chain conveying mechanism, and the cylinder body of the first air cylinder is fixedly connected with the first lifting, the telescopic rods of the first air cylinders are fixedly connected with the limiting plate, the first rotating rollers are arranged in parallel and are sequentially arranged at intervals along the length direction of the limiting plate, the first rotating rollers are vertically arranged with the limiting plate, the block number control mechanism comprises a fixed plate, a pushing plate and a second air cylinder which are arranged above the chain conveying mechanism, two ends of the fixed plate are connected with adjusting legs through lead screws, a cylinder body of the second air cylinder is fixedly connected with the fixed plate, the telescopic rods of the second air cylinder are fixedly connected with the pushing plate, the chain conveying mechanism comprises a first support, a driving shaft and a first driven shaft which are respectively arranged at two ends of the first support, and a second motor driving the driving shaft to rotate, a second driven shaft is arranged between the driving shaft and the first driven shaft, a plurality of driving chain wheels are arranged on the driving shaft at intervals along the axial direction of the driving shaft, and driven chain wheels matched with the driving chain wheels are arranged on the first driven shaft and the, the number of the driving chain wheels is the same as the sum of the number of the driven chain wheels on the first driven shaft and the second driven shaft, a conveying chain is wound between the corresponding driving chain wheels and the corresponding driven chain wheels, the multistage conveying mechanism comprises a second support, a third motor, a fourth motor and a transmission chain, a driven roller is arranged at one end, close to the input end of the multistage conveying mechanism, of the second support, a driving roller rotated by a third motor driver is arranged between the driven roller and the adjustable brick retaining mechanism, a rubber belt is wound between the driving roller and the driven roller, a plurality of first unpowered rollers arranged at intervals are arranged between the driving roller and the driven roller, a plurality of double-row chain rollers are arranged between the adjustable brick retaining mechanism and the driving roller, the double-row chain rollers are arranged in parallel at intervals in sequence, the double-row chain rollers are driven to rotate by the transmission chain, and the transmission chain is driven to move by the fourth motor, be provided with two unpowered cylinders of second between double-row chain cylinder and the driving roll, keep off brick mechanism including mount pad and the fixed fender brick steel pipe that sets up on the mount pad with adjustable, mount pad and second support fixed connection, be provided with deashing mechanism on the multistage transport mechanism, deashing mechanism includes that two symmetries set up the stand in rubber belt both sides, two stands all with second support fixed connection, be provided with the second crane between two stands, the both ends of second crane respectively with two stand sliding connection, crane below fixed mounting has the brush.

Compared with the prior art, the invention has the following beneficial effects: the multi-joint robot unstacking and packaging production line is provided, automatic continuous packaging is realized, the packaged brick stacks are tidy, bricks are not easy to damage in the packaging process, and the production efficiency is greatly improved; the large-span truss brick unloading and loading equipment is provided with the large-span truss and supports the ground rail in the middle of the truss to enhance the stability of the truss, so that bricks are more convenient to transport, the flexibility is higher, the equipment is easy to match with other packing machines, and the packing efficiency is greatly improved; the brick clamping mechanism provided by the invention has the advantages that the brick clamping transportation is more stable, bricks are not easy to fall off, bricks with various strengths can be clamped, bricks with low strengths cannot be crushed, and the applicability is wider; the grouping machine can be used for grouping the brick groups with different numbers of blocks, the adjustment is convenient when the number of the blocks of the brick groups is changed, the grouping is neat, the grouping error is not easy to occur, the frequent maintenance is not needed, the surfaces of the grouped brick groups are free of slag, and the subsequent brick stacking is convenient.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural diagram of the large-span truss brick unloading and loading equipment in the invention;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a schematic diagram of the construction of the grouping machine of the present invention;

FIG. 5 is a schematic view of the quarter turn mechanism of the present invention;

FIG. 6 is a schematic structural diagram of a block number control mechanism according to the present invention;

FIG. 7 is a schematic view of the structure of the chain transport mechanism of the present invention;

FIG. 8 is a schematic view of the multi-stage transport mechanism of the present invention;

FIG. 9 is a schematic structural view of an adjustable brick blocking mechanism according to the present invention;

FIG. 10 is a schematic view showing the structure of the ash removing mechanism according to the present invention.

Detailed Description

The invention is described in detail below with reference to the figures and the specific embodiments.

As shown in fig. 1 to 10, a multi-joint robot unstacking and packing production line comprises a long-span truss unstacking and loading device 1 for unloading a brick pile from a kiln car and transporting the brick pile to a stacker 2, a robot unstacker 4 for sequentially transporting the brick layers arranged by the stacker 2 to a first transfer conveyor 3, a grouping machine 5 for grouping the brick layers transported by the transfer conveyor 3, a stacker 8 for grouping the grouped brick layers into a brick pile, a packer 6 for packing the grouped brick pile and a second transfer conveyor 7 for transporting the packed brick pile.

The large-span truss brick unloading and loading equipment 101 comprises a truss 1010, wherein the truss 1010 comprises a cross beam 11001 and two first upright columns 11002 respectively arranged at two ends of the cross beam 11001, and a trolley 101 which travels on the cross beam 11001 in a reciprocating mode is arranged on the truss 1010.

A ground rail 102 is arranged between the two first upright columns 11002, the top of the ground rail 102 abuts against the cross beam 11001, the ground rail 102 comprises a second upright column 1201, a supporting seat 1202 is arranged at the top of the second upright column 1201, and a traveling wheel 1203 is arranged at the bottom of the second upright column 1201. The supporting seat 1202 props against the cross beam 11001, the number of the second upright columns 1201 is two, and the two second upright columns 1201 are symmetrically arranged below the supporting seat 1202 and fixedly connected with the supporting seat 1202. The ground rail 102 is convenient to move, disassemble, assemble and replace positions by arranging the travelling wheels 1203.

The bottom fixedly connected with mount 109 of dolly 101, mount 109 is including setting up rectangular plate 1901 in crossbeam 11001 below, and rectangular plate 1901 is through four connecting rods 1902 and crossbeam 11001 fixed connection.

The lifting electric hoist 108 is arranged on the fixed frame 109, the lifting and rotating plate 107 connected with the lifting electric hoist 108 is arranged below the fixed frame 109, four guide posts 106 are fixedly mounted on the lifting and rotating plate 107, each guide post 106 is arranged in one guide sleeve assembly 105 in a penetrating mode, the four guide posts 106 are arranged at four corners of the rectangular plate 1901 in a penetrating mode respectively, the guide sleeve assemblies 105 are four in number, each guide sleeve assembly 105 comprises a first guide sleeve 1501, a connecting pipe 1502 and a second guide sleeve 1503, the first guide sleeve 1501, the connecting pipe 1502 and the rectangular plate 1901 are sequentially sleeved on the guide posts 106 from top to bottom, two ends of the connecting pipe 1502 are fixedly connected with the first guide sleeve 1501 and the second guide sleeve 1503 respectively, and the first guide sleeve 1501 is fixedly. The guide sleeve assembly 105 prevents the lifting and rotating plate 107 from being displaced when it is lifted or lowered along the axial direction of the guide post 106.

The bottom of the lifting and rotating plate 107 is fixedly provided with a rotating support 104, a brick clamping mechanism 103 used for clamping a brick is arranged below the rotating support 104, the brick clamping mechanism 103 is connected with the rotating support 104, the rotating support 104 is widely used in the prior art, and the rotating support 104 drives the brick clamping mechanism 103 to rotate, so that the angle is convenient to adjust when the brick is clamped or unloaded. The lifting rotary plate 107 is lifted or lowered to simultaneously drive the rotary support 104 and the brick clamping mechanism 103 to lift or lower.

The brick clamping mechanism 103 comprises a U-shaped arm 1301 with an opening facing downwards and two clamping assemblies symmetrically arranged at two ends of the U-shaped arm 1301, the clamping assemblies comprise a clamping leg 1302 arranged below the U-shaped arm 1301, a web 1303, a bottom plate 1304, a first spring 1305, a first rubber plate 1306 and a second rubber plate 1307, the middle of the clamping leg 1302 is hinged with the end of the U-shaped arm 1301 through a first hinge shaft 1308, the lower part of the clamping leg 1302 is hinged with the web 1303 through a second hinge shaft 13018, the bottom plate 1304 is fixedly connected with the web 1303, the first rubber plate 1306 is attached to the upper part of the side wall of the bottom plate 1304 on the side far from the web 1303, the second rubber plate 1307 is attached to the lower part of the side wall of the bottom plate 1304 on the side far from the web 1303, one end of the first spring 1305 is fixedly connected with the bottom plate 1304, the other end of the first spring is fixedly connected with the clamping leg, a clamping cylinder 13013, a gear synchronizer 13014 and clamping assemblies symmetrically arranged at two ends of the clamping cylinder 13013 are arranged above the, the clamping assemblies comprise a gear 13015, a first connecting rod 13016 and a second connecting rod 13017, one end of the first connecting rod 13016 is fixedly connected with the center of the gear 13015, the other end of the first connecting rod 13016 is hinged with one end of the second connecting rod 13017, the other end of the second connecting rod 13017 is hinged with the upper parts of the clamping legs 1302, the two gears 13015 in the two clamping assemblies are meshed, and the two clamping legs 1302 in the two clamping assemblies are respectively and fixedly connected with the telescopic rod and the cylinder body of the clamping oil cylinder 13013.

When the brick clamping mechanism 103 clamps bricks, the telescopic rod of the clamping oil cylinder 13013 extends to push the upper parts of the two clamping legs 1302 to move outwards, at the moment, the lower parts of the two clamping legs 1302 approach each other, so that the bricks are clamped, the bottom of a brick pile is clamped between the two bottom plates 1304, the first rubber plate 1306 and the second rubber plate 1307 are attached to the bricks at the bottom of the brick pile, and the first rubber plate 1306 and the second rubber plate 1307 play roles of skid resistance and buffering, so that bricks with different strengths can be clamped; during clamping of the brick, the first spring 1305 tensions the base plate 1304, giving the base plate 1304 a vertical upward force, causing the base plate 1304 to drag against the bottom of the brick pile. The provision of the gear synchronizer 13014, gear 13015, first link 13016 and second link 13017 ensures synchronized movement of the two legs 1302. When the brick is to be removed, the clamping cylinder 13013 retracts to retract the rods, thereby moving the lower portions of the clamping legs 1302 away from each other and removing the brick.

The bottom plate 1304 is perpendicular to the web 1303.

The brick pressing assembly is arranged on the U-shaped arm 1301 and comprises a brick pressing plate 1309, four fixed columns 13010 and four second springs 13011 which are respectively sleeved on the four fixed columns 13010, the brick pressing plate 1309 is arranged below the fixed columns 13010, the upper portions of the fixed columns 13010 are fixedly connected with the U-shaped arm 1301, a limiting ring 13012 is fixedly installed in the middle of each fixed column 13010, the upper portions of the second springs 13011 abut against the limiting ring 13012, and the lower portions of the second springs 13011 are fixedly connected with the brick pressing plate 1309. The brick pressing assembly is after pressing the brick to press brick mechanism 103, and the topmost layer of brick supports to paste on pressing brick board 1309, and under second spring 13011's effort, presses brick board 1309 to press on the top layer of brick pillar, and is more stable when removing the brick, reduces the range of rocking, is difficult for falling the brick.

Two robot unstackers 104 are provided, and four robot unstackers 102 are provided. Each robotic unstacker 104 operates in conjunction with two palletizers 102.

The grouping machine 105 comprises a chain transportation mechanism 1501 used for transporting bricks before grouping and a multi-stage transportation mechanism 1502 used for transporting bricks after grouping, a block number control mechanism 1503 is arranged at the output end of the chain transportation mechanism 1501, a right-angle turning mechanism 1504 used for grouping the bricks into a group is arranged behind the output end of the chain transportation mechanism 1501, the right-angle turning mechanism 1504 is arranged in front of the input end of the multi-stage transportation mechanism 1502, an adjustable brick blocking mechanism 1505 is arranged at the output end of the multi-stage transportation mechanism 1502, the right-angle turning mechanism 1504 comprises a base 15401, a first lifting frame 15402 arranged on the base 15401, a limiting plate 15404 arranged on the first lifting frame 1504 2, a first air cylinder 15405, a first motor 15406 and a plurality of first rotating rollers 15403 driven by the first motor 15406 to rotate, the limiting plate 15404 is arranged at one end of the right-angle turning mechanism 1501 far away from the chain transportation mechanism, the cylinder body of the first cylinder 15405 is fixedly connected with the first lifting frame 15402, the telescopic rod of the first cylinder 15405 is fixedly connected with the limit plate 15404, the plurality of first rotating rollers 15403 are arranged in parallel and sequentially arranged at intervals along the length direction of the limit plate 15404, the first rotating rollers 15403 are arranged perpendicular to the limit plate 15404, the block number control mechanism 1503 comprises a fixing plate 15301 arranged above the chain transport mechanism 1501, a pushing plate 15302 and a second cylinder 15303, both ends of the fixing plate 15301 are connected with adjusting legs 15305 through lead screws 15304, the cylinder body of the second cylinder 15303 is fixedly connected with the fixing plate 15301, the telescopic rod of the second cylinder 15303 is fixedly connected with the pushing plate 15302, the chain transport mechanism 1501 comprises a first bracket 15101, a driving shaft 15102 and a first driven shaft 15103 respectively arranged at both ends of the first bracket 15101, and a second motor 15104 driving the driving shaft 15102 to rotate, a second driven shaft 15108 is arranged between the driving shaft 15010 and the first driven shaft 15103, a plurality of driving chain wheels 15105 are arranged on the driving shaft 15102 at intervals along the axial direction thereof, driven chain wheels 15106 for matching with the driving chain wheels 15105 are arranged on the first driven shaft 15103 and the second driven shaft 15108, the number of the driving chain wheels 15105 is the same as the sum of the number of the driven chain wheels 15106 on the first driven shaft 15103 and the second driven shaft 15108, a transport chain 15107 is wound between the corresponding driving chain wheels 15105 and the driven chain wheels 15106, the multistage transport mechanism 1502 comprises a second bracket 15201, a third motor 15204, a fourth motor 15208 and a transmission chain 15209, a driven roller 02 is arranged at one end of the second bracket 15201 close to the input end of the multistage transport mechanism 1502, a driving roller 15203 driven by a third motor 15204 driver is arranged between the driven roller 15202 and the adjustable brick blocking mechanism 1521505, a rubber belt 15205 is wound between the driving roller 15203 and the driven roller 15202, a plurality of first unpowered rollers 15206 arranged at intervals are arranged between the driving roller 15203 and the driven roller 15202, a plurality of double-row chain rollers 15207 are arranged between the adjustable brick retaining mechanism 1505 and the driving roller 15203, the double-row chain rollers 15207 are sequentially arranged in parallel at intervals, the double-row chain rollers 15207 are driven to rotate by a transmission chain 15209, the transmission chain 15209 is driven to move by a fourth motor 15208, two second unpowered rollers 152010 are arranged between the double-row chain rollers 15207 and the driving roller 15203, the adjustable brick retaining mechanism 1505 comprises a mounting seat 15501 and brick retaining steel tubes 15502 fixedly arranged on the mounting seat 15501, the mounting seat 15501 is fixedly connected with a second bracket 15501, a dust cleaning mechanism 1506 is arranged on the multistage transport mechanism 1502, the dust cleaning mechanism 1506 comprises two upright columns 15601 symmetrically arranged on two sides of a rubber belt 15205, and the two upright columns 15601 are both fixedly connected with the second bracket 15201, a second lifting frame 15602 is arranged between the two upright posts 15601, the two ends of the second lifting frame 15602 are respectively connected with the two upright posts 15601 in a sliding way, and a hair brush 15603 is fixedly arranged below the lifting frame 15602.

The grouping machine 5 comprises a chain conveying mechanism 501 used for conveying bricks before grouping and a multi-stage conveying mechanism 502 used for conveying the bricks after grouping, a block number control mechanism 503 is arranged at the output end of the chain conveying mechanism 501, a right-angle turning mechanism 504 used for grouping the bricks into a group is arranged behind the output end of the chain conveying mechanism 501, the right-angle turning mechanism 504 is arranged in front of the input end of the multi-stage conveying mechanism 502, and an adjustable brick blocking mechanism 505 is arranged at the output end of the multi-stage conveying mechanism 502. The chain conveying mechanism 501, the multi-stage conveying mechanism 502, the block number control mechanism 503, the quarter turn mechanism 504 and the adjustable brick blocking mechanism 505 are controlled by a control system, and the control system is the prior art.

The block number control mechanism 503 comprises a fixing plate 5301, a pushing plate 5302 and a second cylinder 5303 which are arranged above the chain conveying mechanism 501, wherein both ends of the fixing plate 5301 are connected with adjusting legs 5305 through screw rods 5304, the cylinder body of the second cylinder 5303 is fixedly connected with the fixing plate 5301, and the telescopic rod of the second cylinder 5303 is fixedly connected with the pushing plate 5302. The height of the fixing plate 5301 is adjusted to fit bricks of different brick types by adjusting the relative position between the adjusting leg 5305 and the lead screw 5304. The number of bricks control mechanism 503 is provided with a sensor connected to the control system, the sensor senses the number of bricks passing through the number of bricks control mechanism 503, when the number reaches, the sensor transmits a signal to the control system, the control system controls the extension rod of the second cylinder 5303 to extend, so that the pushing plate 5302 pushes the last row of bricks passing through the number of bricks control mechanism 503 forward, and the pushing plate 5302 limits the position of the bricks not passing through the number of bricks control mechanism 503, so that the bricks are not adhered to the passing bricks.

Quarter turn mechanism 504 includes base 5401, sets up first crane 5402 on base 5401 and sets up limiting plate 5404, first cylinder 5405, first motor 5406 on first crane 5402 and drive its a plurality of first rotation rollers 5403 of pivoted by first motor 5406, limiting plate 5404 sets up and keeps away from one end of chain transport mechanism 501 at quarter turn mechanism 504, the cylinder body and the first crane 5402 fixed connection of first cylinder 5405, the telescopic link and the limiting plate 5404 fixed connection of first cylinder 5405, a plurality of first rotation rollers 5403 are parallel arrangement each other and set up along limiting plate 5404 length direction interval in proper order. The first rotating roller 5403 and the limiting plate 5404 are vertically arranged. The brick that is sent by chain transport mechanism 501 gets into quarter turn mechanism 504, through making first cylinder 5405 telescopic link stretch out or retract to adjust the distance between limiting plate 5404 and the push pedal 5302, and then guaranteed when adjusting the number of pieces of every row of brick group, the brick can be pressed from both sides between limiting plate 5404 and push pedal 5302, eliminates the gap between brick and the brick.

The chain transportation mechanism 501 comprises a first support 5101, a driving shaft 5102 and a first driven shaft 5103 which are respectively arranged at two ends of the first support 5101, and a second motor 5104 for driving the driving shaft 5102 to rotate, wherein a second driven shaft 5108 is arranged between the driving shaft 5010 and the first driven shaft 5103, a plurality of driving sprockets 5105 are arranged on the driving shaft 5102 along the axial interval of the driving shaft, driven sprockets 5106 used for being matched with the driving sprockets 5105 are respectively arranged on the first driven shaft 5103 and the second driven shaft 5108, the number of the driving sprockets 5105 is the same as the total number of the driven sprockets 5106 on the first driven shaft 5103 and the second driven shaft 5108, and a transportation chain 5107 is wound between the corresponding driving sprockets 5105 and the driven sprockets 5106. The second motor 5104 drives the driving sprocket 5105 to rotate, so that the transport chain 5107 transports bricks forward.

The multi-stage transportation mechanism 502 comprises a second support 5201, a third motor 5204, a fourth motor 5208 and a transmission chain 5209, one end of the second support 5201 close to the input end of the multi-stage transportation mechanism 502 is provided with a driven roller 5202, a driving roller 5203 rotated by a driver of the third motor 5204 is arranged between the driven roller 5202 and the adjustable brick blocking mechanism 505, a rubber belt 5205 is wound between the driving roller 5203 and the driven roller 5202, a plurality of first unpowered rollers 5206 arranged at intervals are arranged between the driving roller 5203 and the driven roller 5202, a plurality of double-row chain rollers 5207 are arranged between the adjustable brick blocking mechanism 505 and the driving roller 5203 in parallel in sequence at intervals, the double-row chain rollers 5207 are driven to rotate by the transmission chain 5209, and the transmission chain 5209 is driven to move by the fourth motor 5208. The rubber belt 5205 and the drive chain 5209 both transport the bricks forward, and when the row number of bricks to be grouped reaches the requirement, the third motor 5204 stops running, and when the brick group on the drive chain 5209 is taken away, the third motor 5204 continues running.

Two second unpowered rollers 52010 are arranged between the double-row chain roller 5207 and the driving roller 5203, and the two second unpowered rollers 52010 play a role of speed reduction and buffering.

Adjustable fender brick mechanism 505 includes mount pad 5501 and the fixed fender brick steel pipe 5502 that sets up on mount pad 5501, mount pad 5501 and second support 5201 fixed connection. The brick blocking steel pipe 5502 blocks the bricks transported by the transmission chain 5209, so that no gap exists between the brick rows.

The multistage conveying mechanism 502 is provided with an ash removal mechanism 506, the ash removal mechanism 506 comprises two upright posts 5601 symmetrically arranged on two sides of the rubber belt 5205, the two upright posts 5601 are fixedly connected with the second support 5201, a second lifting frame 5602 is arranged between the two upright posts 5601, two ends of the second lifting frame 5602 are respectively in sliding connection with the two upright posts 5601, and a brush 5603 is fixedly arranged below the lifting frame 5602. The brush 5603 sweeps away the brick slag on the brick.

The above embodiments are based on the technical solution of the present invention, and detailed implementation and specific operation processes are given, but the scope of the present invention is not limited to the above embodiments.

Claims

1. The utility model provides a multijoint robot destacking packing production line, including being used for unloading the brick pillar from the kiln car and transporting to large-span truss on whole buttress machine (2) destacking loading equipment (1), a robot destacking machine (4) that is used for transporting in proper order the brick layer that whole buttress machine (2) were arranged to first transfer conveyer (3), a marshalling machine (5) that is used for the brick layer marshalling that comes transmission conveyer (3) transportation, a hacking machine (8) that is used for becoming the brick pillar with the brick layer subassembly that marshalling is good, baling press (6) that pack the brick pillar that will pack and second transfer conveyer (7) that are used for transporting away the brick pillar that will pack that pack, its characterized in that: the large-span truss brick unloading and loading equipment (1) comprises a truss (1010), the truss (1010) comprises a cross beam (11001) and two first vertical columns (11002) respectively arranged at two ends of the cross beam (11001), a trolley (101) which travels on the cross beam (11001) in a reciprocating mode is arranged on the truss (1010), a ground rail (102) is arranged between the two first vertical columns (11002), the top of the ground rail (102) abuts against the cross beam (11001), a fixing frame (109) is fixedly connected to the bottom of the trolley (101), a lifting electric hoist (108) is arranged on the fixing frame (109), a lifting and rotating plate (107) connected with the lifting electric hoist (108) is arranged below the fixing frame (109), a plurality of guide columns (106) are fixedly arranged on the lifting and rotating plate (107), each guide column (106) penetrates through one guide sleeve assembly (105), and a rotating support (104) is fixedly arranged at the bottom of the lifting and rotating plate (107), the brick clamping mechanism (103) used for clamping bricks is arranged below the rotary support (104), the brick clamping mechanism (103) is connected with the rotary support (104), the ground rail (102) comprises a second upright post (1201), a supporting seat (1202) is arranged at the top of the second upright post (1201), and walking wheels (1203) are arranged at the bottom of the second upright post (1201).

2. The multi-joint robot unstacking and packing production line of claim 1, wherein: the robot unstacker (4) is provided with two, and the whole stacker (2) is provided with four.

3. The multi-joint robot unstacking and packing production line of claim 1, wherein: the brick clamping mechanism (103) comprises a U-shaped arm (1301) with a downward opening and two clamping components symmetrically arranged at two ends of the U-shaped arm (1301), the clamping components comprise a clamping leg (1302) arranged below the U-shaped arm (1301), a web (1303), a bottom plate (1304), a first spring (1305), a first rubber plate (1306) and a second rubber plate (1307), the middle part of the clamping leg (1302) is hinged with the end part of the U-shaped arm (1301) through a first hinge shaft (1308), the lower part of the clamping leg (1302) is hinged with the web (1303) through a second hinge shaft (13018), the bottom plate (1304) is fixedly connected with the web (1303), the first rubber plate (1306) is attached to the upper part of the side wall of the bottom plate (1304) far away from the web (1303), the second rubber plate (1307) is attached to the lower part of the side wall of the bottom plate (1304) far away from the web (1303), one end of the first spring (1305) is fixedly connected with the bottom plate (1304), the other end of the U-shaped arm (1301) is fixedly connected with the clamping leg (1302), a clamping oil cylinder (13013), a gear synchronizer (13014) and clamping assemblies symmetrically arranged at the two ends of the clamping oil cylinder (13013) are arranged above the U-shaped arm (1301), each clamping assembly comprises a gear (13015), a first connecting rod (13016) and a second connecting rod (13017), one end of each first connecting rod (13016) is fixedly connected with the center of the gear (13015), the other end of each first connecting rod is hinged with one end of each second connecting rod (13017), the other end of each second connecting rod (13017) is hinged with the upper portion of the clamping leg (1302), the two gears (13015) in the two clamping assemblies are meshed, the two clamping legs (1302) in the two clamping assemblies are fixedly connected with the telescopic rod and the cylinder body of the clamping oil cylinder (13013) respectively, the bottom plate (1304) and the web plate (1303) are vertically arranged, a brick pressing assembly is arranged on the U-shaped arm (1301), and comprises a brick pressing plate (1309), The tile pressing device comprises four fixing columns (13010) and four second springs (13011) which are respectively sleeved on the four fixing columns (13010), wherein a tile pressing plate (1309) is arranged below the fixing columns (13010), the upper portions of the fixing columns (13010) are fixedly connected with a U-shaped arm (1301), a limiting ring (13012) is fixedly installed in the middle of each fixing column (13010), the upper portions of the second springs (13011) abut against the limiting ring (13012), and the lower portions of the second springs (13011) are fixedly connected with the tile pressing plate (1309). The fixing frame (109) comprises a rectangular plate (1901) arranged below the cross beam (11001), the rectangular plate (1901) is fixedly connected with the cross beam (11001) through four connecting rods (1902), the number of guide pillars (106) is four, the four guide pillars (106) are respectively arranged at four corners of the rectangular plate (1901) in a penetrating mode, the number of guide sleeve assemblies (105) is four, each guide sleeve assembly (105) comprises a first guide sleeve (1501), a connecting pipe (1502) and a second guide sleeve (1503) which are sequentially sleeved on the corresponding guide pillar (106) from top to bottom, two ends of each connecting pipe (1502) are respectively fixedly connected with the first guide sleeve (1501) and the second guide sleeve (1503), and the first guide sleeve (1501) is fixedly connected with the rectangular plate (1901).

4. The multi-joint robot unstacking and packing production line of claim 1, wherein: the brick grouping machine (5) comprises a chain conveying mechanism (501) used for conveying bricks before grouping and a multi-stage conveying mechanism (502) used for conveying the bricks after grouping, a block number control mechanism (503) is arranged at the output end of the chain conveying mechanism (501), a right-angle turning mechanism (504) used for grouping the bricks into a group is arranged behind the output end of the chain conveying mechanism (501), the right-angle turning mechanism (504) is arranged in front of the input end of the multi-stage conveying mechanism (502), an adjustable brick blocking mechanism (505) is arranged at the output end of the multi-stage conveying mechanism (502), the right-angle turning mechanism (504) comprises a base (5401), a first lifting frame (5402) arranged on the base (5401), a limiting plate (5404) arranged on the first lifting frame (5402), a first air cylinder (5405), a first motor (5406) and a plurality of first rotating rollers (5403) driven to rotate by the first motor (5406), the limiting plate (5404) is arranged at one end, far away from the chain conveying mechanism (501), of the quarter turn mechanism (504), a cylinder body of the first cylinder (5405) is fixedly connected with the first lifting frame (5402), an expansion rod of the first cylinder (5405) is fixedly connected with the limiting plate (5404), the first rotating rollers (5403) are arranged in parallel and are sequentially arranged at intervals along the length direction of the limiting plate (5404), the first rotating rollers (5403) and the limiting plate (5404) are vertically arranged, the block number control mechanism (503) comprises a fixing plate (5301), a pushing plate (5302) and a second cylinder (5303) which are arranged above the chain conveying mechanism (501), two ends of the fixing plate (5301) are connected with adjusting legs (5305) through screw rods (5304), a cylinder body of the second cylinder (5303) is fixedly connected with the fixing plate (5301), and an expansion rod of the second cylinder (5303) is fixedly connected with the pushing plate (5302), chain transport mechanism (501) includes first support (5101), sets up driving shaft (5102) and first driven shaft (5103) and drive driving shaft (5102) pivoted second motor (5104) at first support (5101) both ends respectively, is provided with second driven shaft (5108) between driving shaft (5010) and first driven shaft (5103), be provided with a plurality of driving sprocket (5105) along its axial interval on driving shaft (5102), all be provided with on first driven shaft (5103) and second driven shaft (5108) and be used for with driving sprocket (5105) matched with driven sprocket (5106), and driving sprocket (5105) quantity is the same with driven sprocket (5106) quantity sum on first driven shaft (5103) and second driven shaft (5108), around being equipped with transport chain (5107) between corresponding driving sprocket (5105) and driven sprocket (5106), multistage transport mechanism (502) includes second support (5201), A third motor (5204), a fourth motor (5208) and a transmission chain (5209), wherein a driven roller (5202) is arranged at one end of the second bracket (5201) close to the input end of the multi-stage transport mechanism (502), a driving roller (5203) rotated by a driver of the third motor (5204) is arranged between the driven roller (5202) and the adjustable brick blocking mechanism (505), a rubber belt (5205) is wound between the driving roller (5203) and the driven roller (5202), a plurality of first unpowered rollers (5206) arranged at intervals are arranged between the driving roller (5203) and the driven roller (5202), a plurality of double-row chain rollers (5207) are arranged between the adjustable brick blocking mechanism (55) and the driving roller (5203) in sequence at intervals in parallel, the double-row chain rollers (5207) are driven to rotate by the transmission chain (5209), and the transmission chain (5209) is driven to move by the fourth motor (5208), be provided with two unpowered cylinders of second (52010) between double row chain cylinder (5207) and initiative cylinder (5203), adjustable fender brick mechanism (505) is including mount pad (5501) and fixed fender brick steel pipe (5502) of setting on mount pad (5501), mount pad (5501) and second support (5201) fixed connection, be provided with deashing mechanism (506) on multistage transport mechanism (502), deashing mechanism (506) include two symmetries set up stand (5601) in rubber belt (5205) both sides, two stand (5601) all with second support (5201) fixed connection, be provided with second crane (5602) between two stand (5601), the both ends of second crane (5602) respectively with two stand (5601) sliding connection, crane (5602) below fixed mounting has brush (5603).