A conveying device for marble slab processing

Abstract

The application discloses a conveying device for marble plate processing, belongs to the technical field of marble plate processing, and comprises a ground rail base, a mechanical arm slidingly installed on the ground rail base, a conveyor, a U-shaped connecting head, and a grabbing assembly.

Description

Technical Field

[0001] This invention belongs to the field of marble slab processing technology, and in particular, a conveying device for marble slab processing. Background Technology

[0002] Marble slabs, as common building decoration materials, require a series of processing steps including cutting, grinding, polishing, and surface treatment. Some marble slabs also require adhesive backing to improve their impermeability, crack resistance, and water resistance, thereby enhancing their overall strength and decorative appeal. During the processing of marble slabs, automated conveying is necessary to improve production efficiency. For example, after cutting, the marble slabs need to be conveyed and stacked for subsequent transfer or batch packaging. Stacking can be done horizontally or vertically. In modern marble processing production lines, automated conveying and handling of marble slabs is a key element in achieving efficient and continuous operation.

[0003] In most existing conveying devices, the gripping components (such as vacuum suction cups or grippers) are rigidly connected directly to the end effector of the robotic arm, and their installation angle is not adjustable. This means that the posture of the gripping components depends entirely on the overall movement of the robotic arm's joints. For example, when gripping boards from a horizontally stacked pile, the robotic arm must be adjusted to a vertically downward position; while when gripping upright boards, the shoulder or wrist joints must be rotated significantly to bring the end effector to a horizontal position. This design simplifies the structure but sacrifices flexibility, resulting in complex multi-axis linkage adjustments for the robotic arm every time the gripping direction is changed, which is time-consuming and can easily reduce processing and conveying efficiency.

[0004] A search revealed a Chinese patent publication number: CN109230508B, which describes a board material handling robot device. The robot includes a robot and a control cabinet. The robot device also includes a support frame for placing the board material and a material conveyor belt. A suction cup frame is connected to the robot arm, and several vacuum suction cups for holding the board material are fixed on the suction cup frame. The control cabinet includes a controller, which is electrically connected to the robot arm.

[0005] The publicly available patent documents cited above also have the same problem: the vacuum suction cup frame is directly and rigidly connected to the end of the robotic arm, and its installation angle is not adjustable. This means that the posture of the gripping component depends entirely on the overall movement of the joints of the robotic arm to adjust. As a result, the robotic arm needs to perform complex multi-axis linkage adjustments every time the gripping direction is changed, which takes a long time and can easily reduce processing and conveying efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide a conveying device for processing marble slabs, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a conveying device for processing marble slabs, comprising: A ground rail base on which a robotic arm is slidably mounted; Multiple sets of conveyors are symmetrically arranged and used to transport marble slabs to be processed under different processing steps; The U-shaped connector is movably mounted on the free end of the robotic arm's wrist. A gripping component, installed at the free end of a U-shaped connector, is used to grip or place marble slabs to be processed from the palletizing area or from conveyors of different processes. The U-shaped connector is hinged to the free end of the robotic arm via a pin. A drive motor is installed on one outer wall of the U-shaped connector. The output shaft of the drive motor drives the pin and the U-shaped connector to swing and adjust to the required angle position.

[0008] This preferred option also includes: The track slide is slidably mounted on the ground track and supports the bottom end of the robotic arm, responsible for lifting the robotic arm to move on the ground track. The power distribution cabinet, located on one side of the ground rail base, is responsible for the power supply and switching control of the entire device.

[0009] In this preferred embodiment, the free end of the U-shaped connector is bolted to a connecting seat, and the gripping component is mounted on the bottom of the connecting seat, providing a supporting connecting platform for the gripping component.

[0010] In a preferred embodiment, the gripping component includes multiple vacuum suction cups capable of adsorbing onto the marble slab to be processed, an air passage pipe connecting the air passages of the multiple vacuum suction cups together, a suction cup bracket fixing the tops of the multiple vacuum suction cups together, and a base plate fixingly installed on the top of the suction cup bracket, wherein the connecting seat and the base plate are welded together.

[0011] In this preferred embodiment, the four outer walls of the connecting seat are welded with horizontal U-shaped mounting plates, and each U-shaped mounting plate extends and is connected to a U-shaped anti-detachment support plate in a reverse horizontal position. This allows each U-shaped anti-detachment support plate to clamp and engage with the periphery of the marble slab to be processed, thus supporting the marble slab and preventing it from suddenly falling off during the gripping or lowering process.

[0012] In this preferred embodiment, an electric lifting rod is fixedly installed on the inner top wall of each U-shaped mounting plate by bolts. The bottom lifting end of each electric lifting rod is fitted with an L-shaped lifting plate arranged in opposite directions by screws. A cylinder is installed on the outer wall of the longitudinal plate at the end of each L-shaped lifting plate away from the U-shaped mounting plate by screws. The cylinder drives the U-shaped anti-detachment support plate to move linearly.

[0013] In this preferred embodiment, a positioning rod is welded between the upper and lower inner walls of each U-shaped mounting plate near the connecting seat, and the positioning rod extends longitudinally through the end of the L-shaped lifting plate away from the cylinder.

[0014] In this preferred embodiment, each of the U-shaped anti-detachment support plates has at least two lifting clamping springs symmetrically and longitudinally installed on its inner bottom wall. The top of each of the two lifting clamping springs is equipped with a clamping plate that can move vertically within the U-shaped anti-detachment support plate and is responsible for lifting and clamping the marble slab to be processed. Each lifting clamping spring has a longitudinal telescopic positioning rod assembly. The longitudinal telescopic positioning rod assembly is connected to the clamping plate and the inner bottom wall of the U-shaped anti-detachment support plate and is responsible for the lifting and positioning of the clamping plate. The end of the clamping plate away from the longitudinal inner wall of the U-shaped anti-detachment support plate is integrally connected to a slope end for inserting the marble slab to be processed into the clamping area to prevent it from getting stuck.

[0015] In this preferred embodiment, the free end of the piston rod of each cylinder is bolted with an ear plate, and the bottom surface of the ear plate is welded with an inverted U-shaped lifting plate. Each U-shaped lifting plate has a screw mounted rotatably through a bearing, and a micro motor is mounted at one end of each U-shaped lifting plate. The output shaft of the micro motor is connected to one end of the screw and drives the screw to rotate.

[0016] In this preferred embodiment, each U-shaped anti-detachment support plate has a connecting top block welded to its top surface, which is penetrated by the transverse thread of a screw. The top surface of the connecting top block is in sliding frictional contact with the inner top wall of the U-shaped lifting plate. Each U-shaped anti-detachment support plate has a detachable embedded grinding block on its longitudinal inner wall. When the U-shaped anti-detachment support plate clamps the marble slab to be processed, the grinding block rubs against the outer peripheral wall of the marble slab. When the micro motor drives the U-shaped anti-detachment support plate to slide linearly along the outer wall of the marble slab, the grinding block grinds the outer wall of the marble slab.

[0017] Compared with the prior art, the technical effects and advantages of the present invention are as follows: This conveying device for processing marble slabs features a U-shaped connector mounted movably at the free end of a robotic arm's wrist, with a gripping component connected to the free end. This design allows the gripping component to be independently angled relative to the robotic arm's end via the hinged structure of the U-shaped connector, enabling flexible changes in gripping posture. Compared to existing technologies where the gripping device is fixed at a specific angle and relies solely on the overall posture adjustment of the robotic arm, this design significantly improves gripping adaptability. Specifically, the U-shaped connector is hinged to the free end of the robotic arm via a pin, and a drive motor is mounted on its outer wall. The output shaft of the drive motor directly drives the pin to rotate, causing the U-shaped connector and its connected gripping component to swing as a whole, achieving precise control of the gripping angle. This design avoids the drawbacks of traditional methods that require significant adjustments to the overall posture of the robotic arm to adapt to different gripping directions, significantly shortening posture adjustment time and increasing the work cycle. Furthermore, when gripping vertically placed marble slabs, the drive motor can adjust the gripping component to a vertical position, ensuring the vacuum suction cup is perpendicularly adsorbed onto the slab surface, maximizing the suction force.

[0018] By incorporating a track slide on the ground rail base to support the bottom of the robotic arm, the arm can slide smoothly on the ground rail base, achieving a wide range of horizontal conveying capabilities. Compared to existing technologies where the robotic arm is fixedly installed and its working range is limited, this design achieves the technical benefits of extending the working stroke and improving conveying efficiency. The track slide and the ground rail base form a sliding pair, providing stable support for the robotic arm. This allows it not only to possess its own multi-joint motion capabilities but also to move long distances along the ground rail, thereby covering multiple conveyor stations and realizing automated transfer between multiple processes. This design avoids the cost of adding multiple robotic arms or complex conveyor lines, improving the space utilization and process integration of the equipment.

[0019] By integrating multiple vacuum suction cups, air pipes, suction cup supports, and a base plate into the gripping assembly, the marble slabs to be processed can be gripped non-contactly via vacuum adsorption. This enables safe handling of fragile slabs, protecting the surface quality of the slabs and improving the yield rate. Multiple vacuum suction cups are supplied with air through the air pipes and are fixed in an array by the suction cup supports, ensuring that the adsorption force is evenly distributed on the slab surface and avoiding localized stress concentration that could lead to cracking. The base plate is welded to the connecting seat to form a high-strength support structure, ensuring that the overall rigidity is maintained when handling large-sized, heavy marble slabs.

[0020] By incorporating U-shaped mounting plates and extending them to connect U-shaped anti-detachment support plates around the connecting seat, the marble slab to be processed is simultaneously vacuum-adsorbed and circumferentially clamped and supported. This achieves a combined "adsorption + clamping" gripping function, providing dual safety assurance and preventing detachment compared to existing single adsorption or clamping methods. The four U-shaped anti-detachment support plates are arranged horizontally in opposite directions and can move centripetally under cylinder drive, clamping the edge of the slab to form a mechanical limit. During horizontal gripping, this structure prevents slippage caused by vibration during handling. During vertical gripping, the lower U-shaped anti-detachment support plate supports the bottom of the slab to bear the gravitational load, while the two side plates clamp to prevent tilting, significantly improving gripping reliability under complex postures. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 For the present invention Figure 1 Enlarged structural diagram at point A; Figure 3 This is a schematic diagram of the installation structure of the U-shaped mounting plate of the present invention; Figure 4 This is a schematic diagram of the connection structure of the vacuum suction cup of the present invention; Figure 5 This is a schematic diagram of the connection structure of the U-shaped anti-detachment support plate of the present invention; Figure 6 This is a schematic diagram of the disassembled state of the screw of the present invention; Figure 7 This is a schematic diagram of the installation structure of the clamping tray of the present invention; Figure 8 This is a schematic diagram of the disassembled state of the lifting clamping spring of the present invention; Figure 9 This is a schematic diagram of the installation structure of the grinding block of the present invention; Figure 10 This is a schematic diagram of the structure of the marble slab to be processed in a vertical gripping state according to the present invention. Figure 11 For the present invention Figure 10 Enlarged structural diagram at point B in the diagram; Figure 12 This is an electrical connection diagram of the visual camera and positioning sensor of the present invention.

[0023] Explanation of reference numerals in the attached figures: In the diagram: 1. Ground rail base; 2. Robotic arm; 3. Power distribution cabinet; 4. Conveyor; 5. Marble slab to be processed; 6. Rail slide; 7. U-shaped connector; 8. Drive motor; 9. Connecting seat; 10. Gripping assembly; 11. U-shaped mounting plate; 12. Base plate; 13. L-shaped lifting plate; 14. Vacuum suction cup; 15. Suction cup bracket; 16. U-shaped anti-detachment support plate; 17. Air pipe; 18. Cylinder; 19. Ear plate; 20. Electric lifting rod; 21. Positioning upright; 22. Rib plate; 23. Clamping tray; 24. Connecting top block; 25. Screw; 26. Micro motor; 27. Slope end; 28. Lifting clamping spring; 29. ​​Grinding block; 30. Fixing sleeve; 31. Extension connecting rod; 32. Connecting top plate; 33. U-shaped lifting plate. Detailed Implementation

[0024] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0025] Unless otherwise defined, the directions mentioned herein, such as up, down, left, right, front, back, inside, and outside, are based on the directions shown in the figures of this invention, and are explained here together.

[0026] This embodiment provides, for example Figures 1 to 12 The conveying device for processing marble slabs shown includes: a ground rail base 1, a robotic arm 2, a power distribution cabinet 3, a conveyor 4, marble slabs to be processed 5, and a track slide 6.

[0027] In this embodiment, a robotic arm 2 is slidably mounted on the ground rail base 1. Multiple sets of conveyors 4 are symmetrically arranged and used to transport marble slabs 5 to be processed under different processing steps. The conveyors 4 are located on one side of the robotic arm 2. A U-shaped connector 7 is movably mounted on the free end of the wrist of the robotic arm 2. A gripping component 10 is mounted on the free end of the U-shaped connector 7. The gripping component 10 is used to grip or put down the marble slabs 5 to be processed from the stacking area or from the conveyors 4 of different processes. The U-shaped connector 7 is hinged to the free end of the robotic arm 2 by a pin. A drive motor 8 is mounted on one outer wall of the U-shaped connector 7. The output shaft of the drive motor 8 drives the pin and the U-shaped connector 7 to swing and adjust to the required angle position. The track slide 6 is slidably mounted on the ground rail base 1 and supports the bottom end of the robotic arm 2, which is responsible for lifting the robotic arm 2 to move on the ground rail base 1. The power distribution cabinet 3 is located on one side of the ground rail base 1 and is responsible for the power supply and opening and closing control of the entire device.

[0028] In this embodiment, the free end of the U-shaped connector 7 is bolted to a connector 9, and the gripping component 10 is mounted on the bottom of the connector 9 and provides a support connection platform for the gripping component 10.

[0029] In this embodiment, the gripping component 10 includes multiple vacuum suction cups 14 that can be adsorbed onto the marble slab 5 to be processed, an air passage pipe 17 that connects the air passages of the multiple vacuum suction cups 14 together, a suction cup bracket 15 that is fixedly installed at the top of the multiple vacuum suction cups 14 together, and a base plate 12 that is fixedly installed at the top of the suction cup bracket 15. The connecting seat 9 and the base plate 12 are welded together.

[0030] In this embodiment, four horizontal U-shaped mounting plates 11 are welded to the four outer walls of the connecting seat 9. Each U-shaped mounting plate 11 has an extended U-shaped anti-detachment support plate 16 in a reverse horizontal position. Each U-shaped anti-detachment support plate 16 clamps and engages with the periphery of the marble slab 5 to be processed, thus supporting the marble slab 5 and preventing it from suddenly detaching during gripping or lowering. This allows the U-shaped anti-detachment support plate 16 to provide stable support and lift for the marble slab 5, preventing it from falling from the gripping component 10 and increasing the gripping force on the marble slab 5. (See attached...) Figure 1-2 As shown, when the marble slab 5 to be processed is horizontally gripped, the vacuum suction cup 14 is responsible for vacuum adsorption, while the U-shaped anti-detachment support plate 16 is responsible for clamping the edge side of the marble slab 5 to be processed, so that the four U-shaped anti-detachment support plates 16 can drive centripetally to clamp the marble slab 5 to be processed, so that the marble slab 5 to be processed is horizontally gripped; and as shown in the attached... Figure 10-11 As shown, in some embodiments, when the robotic arm 2 and the U-shaped connector 7 vertically grip the marble slab 5 to be processed, as... Figure 11 The lower U-shaped anti-slip support plate 16 shown is responsible for supporting and lifting the marble slab 5 to be processed, preventing it from sinking and falling. The U-shaped anti-slip support plates 16 on both sides are responsible for clamping the marble slab 5 to prevent it from tilting. (See attached image) Figure 11 The drive motor 8 shown drives and adjusts the angle of the U-shaped connector 7, so that the U-shaped connector 7 can drive the gripping component 10 to grip the marble slab 5 to be processed vertically.

[0031] In this embodiment, an electric lifting rod 20 is fixedly installed on the inner top wall of each U-shaped mounting plate 11 by bolts. The bottom lifting end of the electric lifting rod 20 is equipped with an L-shaped lifting plate 13 arranged in opposite directions by screws. A cylinder 18 is installed on the outer longitudinal plate of the end of each L-shaped lifting plate 13 away from the U-shaped mounting plate 11 by screws. The cylinder 18 drives the U-shaped anti-detachment support plate 16 to move linearly.

[0032] In this embodiment, a positioning rod 21 is welded between the upper and lower inner walls of each U-shaped mounting plate 11 near the connecting seat 9. The positioning rod 21 extends longitudinally through the end of the L-shaped lifting plate 13 away from the cylinder 18. This allows the positioning rod 21 to position the L-shaped lifting plate 13 as it moves up and down when the electric lifting rod 20 drives it. Ribs 22 are welded between the vertical corner inner walls of each U-shaped mounting plate 11. By incorporating the electric lifting rod 20, the L-shaped lifting plate 13, and the cylinder 18 within the U-shaped mounting plate 11, the U-shaped anti-detachment support plate 16 possesses both vertical lifting and horizontal extension capabilities. This achieves adjustable clamping height and independent control of clamping actions. Compared to existing clamping mechanisms with fixed height and single action, this design adapts to different thicknesses of plates and improves clamping accuracy. The electric lifting rod 20 can pre-adjust the height of the L-shaped lifting plate 13, aligning the U-shaped anti-detachment support plate 16 with the edge of the plate to prevent collisions during clamping. The cylinder 18 independently drives the clamping action, achieving precise clamping and release. The design of the positioning rod 21 penetrating the L-shaped lifting plate 13 ensures precise guidance during lifting, achieving smooth movement and accurate positioning. Compared to existing technologies where lifting components are prone to swaying and have poor guiding accuracy, this design prevents jamming and improves operational reliability. The positioning rod 21 slides with the L-shaped lifting plate 13, limiting its lateral displacement and ensuring the lifting action is linear. Combined with the ribs 22 welded to the inner wall of the U-shaped mounting plate 11, this further enhances the overall structural rigidity and resists deformation caused by external loads.

[0033] In this embodiment, at least two lifting clamping springs 28 are symmetrically and longitudinally installed on the inner bottom wall of each U-shaped anti-detachment support plate 16. The top of the two lifting clamping springs 28 is equipped with a clamping plate 23 that can move vertically in the U-shaped anti-detachment support plate 16 and is responsible for lifting and clamping the marble slab 5 to be processed. Each lifting clamping spring 28 has a longitudinal telescopic positioning rod assembly. The longitudinal telescopic positioning rod assembly is connected to the clamping plate 23 and the inner bottom wall of the U-shaped anti-detachment support plate 16 and is responsible for the lifting and positioning of the clamping plate 23. The end of the clamping plate 23 away from the longitudinal inner wall of the U-shaped anti-detachment support plate 16 is integrally connected to a slope end 27 for inserting the marble slab 5 into the clamping area to prevent it from getting stuck. The design of the slope end 27 allows the four U-shaped anti-detachment support plates 16 to move concentrically to clamp the marble slab 5 to be processed. When the slope end 27 of the clamping plate 23 contacts the edge of the marble slab 5 to be processed, the edge of the marble slab 5 to be processed will exert force against the slope end 27. Under the elastic action of the lifting clamping spring 28, the clamping plate 23 will be lowered elastically and compressed, causing the lifting clamping spring 28 to be compressed. This allows the edge of the marble slab 5 to be processed to be quickly inserted into the clamping area between the top surface of the clamping plate 23 and the inner top wall of the U-shaped anti-detachment support plate 16. Under the elastic action of the lifting clamping spring 28, the lifting clamping spring 28 will elastically lift the clamping plate 23 upward, causing the clamping plate 23 to clamp the marble slab 5 to be processed upward. The lifting clamping spring 28 is sleeved around the longitudinal telescopic positioning rod assembly. The longitudinal telescopic positioning rod assembly includes a fixed sleeve 30 fixedly installed on the inner bottom wall of the U-shaped anti-detachment support plate 16 by bolts and an extension connecting rod 31 longitudinally inserted into the fixed sleeve 30. The top end of the extension connecting rod 31 is welded with a connecting top plate 32, which is fixedly installed on the bottom surface of the clamping plate 23 by bolts. When the lifting clamping spring 28 elastically drives the clamping plate 23 to rise and fall, the clamping plate 23 drives the extension connecting rod 31 to longitudinally telescopically insert into the fixed sleeve 30. This allows the longitudinal lifting and lowering insertion of the fixed sleeve 30 and the extension connecting rod 31 to longitudinally position the lifting and lowering of the clamping plate 23, while preventing the lifting clamping spring 28 from being compressed and twisted. By incorporating a lifting clamping spring 28, a clamping support plate 23, and a slope end 27 within the U-shaped anti-detachment support plate 16, the clamping process achieves elastic buffering, flexible clamping, and anti-jamming functionality. Compared to existing rigid clamping methods that easily damage the edges of the sheet material, this design effectively protects the sheet material's edges and improves clamping smoothness. When the U-shaped anti-detachment support plate 16 moves centripetally, the slope end 27 first contacts the edge of the sheet material, applying a guiding force to allow the edge to slide smoothly into the clamping area. Subsequently, the lifting clamping spring 28 is compressed and retracts, causing the clamping support plate 23 to move downwards to make room. Once the sheet material is in place, the spring rebounds, pushing the clamping support plate 23 upwards to press firmly against the bottom of the sheet material, forming a stable support.This process avoids hard collisions, while the longitudinal telescopic positioning rod assembly fixes the sleeve 30 and the extension link 31 to limit the movement trajectory of the clamping plate 23, preventing spring torsion failure and ensuring long-term stable operation.

[0034] In this embodiment, the free end of the piston rod of each cylinder 18 is bolted with a lug plate 19, and the bottom surface of the lug plate 19 is welded with an inverted U-shaped lifting plate 33, as shown in the attached figure. Figure 2-3 The four U-shaped lifting plates 33 shown form a rectangle, allowing the marble slab 5 to be processed to be fitted into this rectangular frame. In other words, the size of the four U-shaped lifting plates 33 is larger than the size of the marble slab 5 to be processed. Each U-shaped lifting plate 33 has a screw 25 rotatably mounted in it via a bearing. A micro motor 26 is installed at one end of each U-shaped lifting plate 33. The output shaft of the micro motor 26 is connected to one end of the screw 25 and drives the screw 25 to rotate.

[0035] In this embodiment, each U-shaped anti-detachment support plate 16 has a connecting top block 24 welded to its top surface, which is penetrated by the transverse thread of the screw 25. The top surface of the connecting top block 24 is in sliding frictional contact with the inner top wall of the U-shaped lifting plate 33. Each U-shaped anti-detachment support plate 16 has a detachably embedded grinding block 29 on its longitudinal inner wall. When the U-shaped anti-detachment support plate 16 clamps the marble slab 5 to be processed, the grinding block 29 rubs against the outer peripheral wall of the marble slab 5. When the micro motor 26 drives the U-shaped anti-detachment support plate 16 to slide linearly along the outer wall of the marble slab 5, the grinding block 29 grinds the outer wall of the marble slab 5. This grinds away the burrs or irregular protrusions on the outer peripheral wall of the marble slab 5, improving the product qualification rate of the marble slab 5 and improving the processing quality of the marble slab 5. When the micro motor 26 rotates forward, it drives the U-shaped anti-detachment support plate 16 to move linearly to one side. When the micro motor 26 rotates in reverse, it drives the U-shaped anti-detachment support plate 16 to move linearly to the other side. This allows the micro motor 26 to move the U-shaped anti-detachment support plate 16 during both forward and reverse rotations, increasing the grinding area of ​​the outer wall of the marble slab 5 to be processed and reducing grinding dead angles. The specific grinding of the outer wall of the marble slab 5 is shown in the attached figure. Figure 2 and 3The outer periphery of the marble slab 5 to be processed is shown. By detachably embedding a grinding block 29 on the longitudinal inner wall of the U-shaped anti-detachment support plate 16, and driving the U-shaped anti-detachment support plate 16 to slide linearly along the outer periphery of the marble slab 5 under the drive of the micro motor 26, the clamping mechanism can perform edge trimming operations while completing the function of fixing the slab. This achieves an integrated processing function of "clamping and grinding". Compared with the existing technology where clamping and grinding are performed in separate steps and require additional equipment and workstations, this method achieves significant technical effects such as process integration, improved production efficiency and reduced equipment footprint. Specifically, after the U-shaped anti-detachment support plate 16 clamps the marble slab 5 to be processed under the action of the cylinder 18, the micro motor 26 starts and drives the screw 25 to rotate. The screw 25 and the connecting top block 24 welded to the top surface of the U-shaped anti-detachment support plate 16 form a threaded transmission pair, pushing the U-shaped anti-detachment support plate 16 to make linear reciprocating motion along the edge of the slab. During this process, the grinding block 29 embedded in its inner wall always maintains frictional contact with the outer wall of the slab's periphery, thereby continuously grinding and repairing the burrs, flash, and irregular protrusions on the edge. This operating mode makes full use of the stable clamping state after the clamping action, transforming the originally idle clamping mechanism into a dynamic processing tool, and avoiding secondary positioning errors and bump damage that may occur when the slab is transported to the independent grinding station. The micro motor 26 controls forward and reverse rotation, causing the screw 25 to drive the U-shaped anti-detachment support plate 16 to slide back and forth along the edge of the board. This design allows the grinding block 29 to cover a larger grinding area, achieving bidirectional, multi-stroke grinding. Compared to the limitations of existing unidirectional grinding which easily leaves blind spots, this design improves edge processing uniformity and reduces grinding blind areas. During forward rotation, the U-shaped anti-detachment support plate 16 moves to one side, and the grinding block 29 trims one edge of the board. During reverse rotation, it moves in the opposite direction, achieving reverse grinding. Multiple reciprocations ensure that the entire circumference of the edge is fully processed, which is especially suitable for the edges of longer boards, significantly improving product appearance quality and the consistency of subsequent processing (such as edge banding). By designing the grinding block 29 as a detachable, embedded structure, such as by screw installation, the worn grinding block 29 can be quickly replaced, achieving rapid maintenance of vulnerable parts. Compared to the existing technology's method of replacing the entire grinding device or complex disassembly and assembly, this design reduces maintenance costs and downtime. Meanwhile, grinding blocks 29 of different materials or shapes can be replaced according to different processing needs (such as rough grinding, fine grinding, and chamfering), enhancing the equipment's process adaptability and flexible production capabilities. In summary, this design achieves physical integration of clamping and grinding, resulting in multiple improvements in processing efficiency, quality, and maintenance convenience.

[0036] In this embodiment, a vision camera (not shown in the figure) is installed at the end of the robotic arm 2 (such as on the U-shaped connector 7). The vision camera is a 3D vision camera (such as a structured light camera, laser scanning camera, or binocular stereo vision camera) to acquire three-dimensional information such as the height, flatness, and stacking status of the board. It is particularly suitable for the identification of multi-layer boards in the palletizing area. At the end of the robotic arm 2, it moves with the robotic arm 2 to achieve dynamic close-range shooting and improve the recognition accuracy. Multiple sensors (not shown in the figure) are arranged at the required positions in the palletizing area or on the conveyor 4 to form a "sensor array" to achieve preliminary positioning. For example, laser sensors are installed at the four corners of the palletizing area to measure the edge position of the board; photoelectric sensors are installed in the central area to confirm that the board is in place.

[0037] In this embodiment, the vision camera is connected to the PLC in the power distribution cabinet 3 via a gigabit Ethernet cable (GigE) or USB 3.0 to transmit image data and receive trigger signals; the positioning sensor is connected to the PLC input terminal via an IO module or directly to receive sensor data and control the robotic arm, cylinder, motor and other actuators.

[0038] Working principle The conveying device for marble slab processing has a power distribution cabinet 3 that provides power to the entire device and controls the start-up of the equipment via an internal PLC. The robotic arm 2 moves to its initial position on the ground rail seat 1 via its bottom rail slide 6, typically the palletizing or loading area. Simultaneously, the drive motor 8 adjusts the angle of the U-shaped connector 7 to make the gripping component 10 horizontal for precise gripping of the slabs. The cylinder 18 drives the ear plate 19, and the U-shaped lifting plate 33, under the control of the micro motor 26, retracts the U-shaped anti-detachment support plate 16 back to its initial position (away from the center) to avoid interfering with subsequent gripping actions. The electric lifting rod 20 controls the L-shaped lifting plate 13 to be in a high position to ensure that the U-shaped anti-detachment support plate 16 does not interfere with the gripping action. The vacuum suction cup 14 is in a closed state, waiting for the adsorption command. At this time, the valve in the air pipe 17 remains closed to save energy.

[0039] The robotic arm 2 moves to the top of the marble slab 5 to be processed according to a preset path. It confirms the slab's position using a vision camera or positioning sensor, ensuring the center of the gripping component 10 is aligned with the center of the slab. This process may involve a laser rangefinder or camera-assisted precise positioning. If a deviation is detected, it is corrected by fine-tuning the position of the robotic arm 2. The robotic arm 2 controls the gripping component 10 to descend vertically until the vacuum suction cups 14 make slight contact with the smooth, flat surface of the marble slab 5. The PLC activates the vacuum pump, drawing a vacuum through the air pipe 17, creating negative pressure on the multiple vacuum suction cups 14, which then firmly adhere to the surface of the marble slab 5. The selection of the vacuum pump must consider the weight and size of the slab to ensure sufficient suction force.

[0040] Cylinder 18 is activated, pushing the U-shaped anti-detachment support plate 16 to move linearly towards the center, achieving centripetal clamping. When the U-shaped anti-detachment support plate 16 contacts the edge of the marble slab 5 to be processed, its internal clamping plate 23 is pressed down, compressing the lifting clamping spring 28. At the same time, the slope end 27 guides the edge of the slab to slide smoothly into the clamping area. After the slab is fully inserted, the lifting clamping spring 28 rebounds, pushing the clamping plate 23 upward to press firmly against the bottom of the slab, forming a dual stabilizing structure of "upper adsorption + side clamping" to prevent it from falling off due to vibration or tilting during transportation. The robotic arm 2 drives the marble slab 5, which has been adsorbed and firmly clamped, to rise vertically, detaching it from the stack or conveyor 4 surface, and enters the conveying state.

[0041] The track slide 6 slides on the ground track 1, driving the robotic arm 2 to move horizontally, transporting the marble slab 5 to be processed above the conveyor 4 for the next process. The optimal route is selected for transport according to the pre-programmed path plan. If subsequent processes require vertical processing (such as edge grinding or vertical cutting), the drive motor 8 can drive the U-shaped connector 7 to rotate, causing the gripping component 10 and the marble slab 5 to change from a horizontal to a vertical or inclined state. The lower U-shaped anti-detachment support plate 16 bears the main lifting force, preventing the slab from sinking due to gravity. The U-shaped anti-detachment support plates 16 on both sides continue to clamp, preventing the slab from shaking or tilting. The vacuum suction cup 14 remains attached, providing additional safety. The robotic arm 2 moves the marble slab 5 to be processed above the target conveyor 4, slowly lowers it to the designated height, and after confirming the position is correct, closes the vacuum of the vacuum suction cup 14, releasing the slab.

[0042] In some embodiments, the edges of the slab can be ground online before or after placement. The U-shaped anti-detachment support plate 16 remains clamped, the micro motor 26 starts, driving the screw 25 to rotate. The screw 25 engages with the connecting top block 24, pushing the U-shaped anti-detachment support plate 16 to slide linearly along the edge of the slab. The grinding block 29, installed on the inner wall of the U-shaped anti-detachment support plate 16, rubs against the outer wall of the marble slab to be processed, removing burrs, flash, or irregular protrusions. The micro motor 26 performs forward and reverse rotation, causing the U-shaped anti-detachment support plate 16 to move back and forth, expanding the grinding range, reducing dead angles, and improving grinding uniformity and efficiency. After grinding, the cylinder 18 retracts, the U-shaped anti-detachment support plate 16 returns to its original position, releasing the clamp, and the electric lifting rod 20 resets, ready for the next gripping.

[0043] After the gripping component 10 detaches from the slab, the robotic arm 2 returns to its initial position or the next gripping point, ready to grip the next marble slab 5 to be processed. It employs a combined gripping method of "vacuum adsorption + mechanical clamping," especially effective during vertical transport. The U-shaped anti-detachment support plate 16 and the clamping tray 23 work together to effectively prevent heavy objects from falling. This design not only improves safety but also increases structural reliability. The lifting clamping spring 28 cooperates with the slope end 27 to achieve flexible clamping, avoiding hard impacts that could damage the edges of the slab. This design is particularly important for protecting expensive and fragile marble slabs. The clamping mechanism integrates a grinding block 29 to complete edge trimming during transport, saving independent process time and improving production efficiency.

[0044] It should be noted that, in this document, relational terms such as "one" and "two" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A conveying device for processing marble slabs, characterized in that, include: A ground rail base (1) on which a robotic arm (2) is slidably mounted; Conveyor (4), symmetrically arranged in multiple sets and used to transport marble slabs (5) to be processed under different processing steps; The U-shaped connector (7) is movably mounted on the free end of the wrist of the robotic arm (2); The gripping component (10) is installed at the free end of the U-shaped connector (7). The gripping component (10) is used to grip or put down the marble slabs (5) to be processed from the palletizing area or the conveyor (4) of different processes. The U-shaped connector (7) is hinged to the free end of the robotic arm (2) by a pin. A drive motor (8) is installed on one side of the outer wall of the U-shaped connector (7). The output shaft of the drive motor (8) drives the pin and the U-shaped connector (7) to swing and adjust to the required angle position. A connecting seat (9) is installed on the free end of the U-shaped connector (7) by bolts. The gripping component (10) is installed at the bottom of the connecting seat (9) and provides a support connection platform for the gripping component (10). The gripping component (10) includes multiple vacuum suction cups (14) that can be adsorbed on the marble slab (5) to be processed, an air passage pipe (17) that connects the air passages of the multiple vacuum suction cups (14) together, a suction cup bracket (15) that fixes the tops of the multiple vacuum suction cups (14) together, and a base plate (12) that is fixedly installed on the top of the suction cup bracket (15). The connecting seat (9) and the base plate (12) are welded together. The four outer walls of the connecting seat (9) are each welded with a horizontal U-shaped mounting plate (11). Each U-shaped mounting plate (11) has an extended U-shaped anti-detachment support plate (16) in a reverse horizontal position, so that each U-shaped anti-detachment support plate (16) is clamped and snapped onto the periphery of the marble slab (5) to be processed, so that the U-shaped anti-detachment support plate (16) clamps and supports the marble slab (5) to be processed. At least two lifting clamping springs (28) are symmetrically and longitudinally installed on the inner bottom wall of each U-shaped anti-detachment support plate (16). The top of the two lifting clamping springs (28) is installed with The clamping plate (23) is equipped with a clamping plate (23) that can be raised and lowered longitudinally in the U-shaped anti-detachment support plate (16) and is responsible for lifting and clamping the marble slab (5) to be processed. Each of the lifting clamping springs (28) has a longitudinal telescopic positioning rod assembly. The longitudinal telescopic positioning rod assembly is connected to the clamping plate (23) and the inner bottom wall of the U-shaped anti-detachment support plate (16) and is responsible for the lifting and positioning of the clamping plate (23). The end of the clamping plate (23) away from the longitudinal inner wall of the U-shaped anti-detachment support plate (16) is integrally connected to the slope end (27) for the marble slab (5) to be processed to be inserted into the clamping area to prevent jamming. Each of the U-shaped anti-detachment support plates (16) has a connecting top block (24) welded to its top surface and penetrated by the transverse thread of the screw (25). The top surface of the connecting top block (24) is in sliding friction contact with the inner top wall of the U-shaped lifting plate (33). Each of the U-shaped anti-detachment support plates (16) has a detachable grinding block (29) embedded in its longitudinal inner wall.

2. The conveying device for processing marble slabs according to claim 1, characterized in that, Also includes: The track slide (6) is slidably installed on the ground track (1) and supports the bottom end of the connecting robotic arm (2), which is responsible for lifting the robotic arm (2) to move on the ground track (1); The power distribution cabinet (3) is located on one side of the ground rail base (1) and is responsible for the power supply and opening and closing control of the entire device.

3. The conveying device for processing marble slabs according to claim 2, characterized in that: Each of the U-shaped mounting plates (11) has an electric lifting rod (20) fixedly installed on its inner top wall by bolts. The bottom lifting end of each electric lifting rod (20) has an L-shaped lifting plate (13) set in the opposite direction installed by screws. Each L-shaped lifting plate (13) has a cylinder (18) installed on the outer wall of its longitudinal plate away from the U-shaped mounting plate (11) by screws. The cylinder (18) drives the U-shaped anti-detachment support plate (16) to move linearly.

4. The conveying device for processing marble slabs according to claim 3, characterized in that: Each of the U-shaped mounting plates (11) has a positioning rod (21) welded between the upper and lower inner walls of the end near the connecting seat (9). The positioning rod (21) extends longitudinally through the end of the L-shaped lifting plate (13) away from the cylinder (18).

5. A conveying device for processing marble slabs according to claim 4, characterized in that: Each cylinder (18) has a lug plate (19) bolted to the free end of the piston rod. The bottom surface of the lug plate (19) is welded with an inverted U-shaped lifting plate (33). Each U-shaped lifting plate (33) has a screw (25) rotatably mounted on it via a bearing. A micro motor (26) is mounted on one end of each U-shaped lifting plate (33). The output shaft of the micro motor (26) is connected to one end of the screw (25) and drives the screw (25) to rotate.

6. A conveying device for processing marble slabs according to claim 5, characterized in that: When the U-shaped anti-detachment support plate (16) clamps the marble slab (5) to be processed, the grinding block (29) rubs against the outer wall of the marble slab (5) to be processed. When the micro motor (26) drives the U-shaped anti-detachment support plate (16) to slide linearly along the outer wall of the marble slab (5) to be processed, the grinding block (29) grinds the outer wall of the marble slab (5) to be processed.

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