Ceramic tile delivery system, control method, computer equipment and storage medium

Abstract

The invention provides a ceramic tile delivery system, a control method, computer equipment and a storage medium, and relates to the technical field of automatic production of ceramic tiles. The ceramic tile delivery system comprises a first conveying platform, a second conveying platform, a lifting device and a turning conveying platform, wherein the first conveying platform and the second conveying platform are arranged in the conveying direction. The lifting device can control the target ceramic tiles delivered by the first conveying platform to be conveyed to the surface of the second conveying platform to be conveyed in the linear direction or control the target ceramic tiles delivered by the first conveying platform to be conveyed to the turning conveying platform to be conveyed in the non-linear direction by adjusting the height. According to the ceramic tile delivery system, through the structural design and the connection relation of the ceramic tile delivery system, a more efficient, more reliable and more environment-friendly ceramic tile automatic production solution is provided, and multiple problems in the prior art are effectively solved.

Description

Technical Field

[0001] The present application relates to the technical field of automated production of ceramic tiles, and in particular to a ceramic tile delivery system, a control method, a computer device and a storage medium. Background Art

[0002] As one of the basic materials in the construction industry, the demand for automation technology in the production and processing of ceramic tiles is growing. With the rapid development of the construction industry, the production efficiency and quality control of ceramic tiles have become key factors in industry competition. The application of automated production technology makes the production process of ceramic tiles more efficient, reduces labor costs, and improves product consistency and quality. In the automated production technology of ceramic tiles, the delivery system of ceramic tiles is an important part connecting various production links, and its performance directly affects the smoothness and stability of the entire production line.

[0003] In the existing tile production line, the right-angle lifting and steering device for delivering tiles is the key equipment to realize the transfer of tiles between different conveying platforms. This device is usually composed of a lifting frame and a tile-pushing cylinder. Its working principle is to transport the tiles to the lifting frame, and then through the lifting of the lifting frame and the pushing of the tile-pushing cylinder, the tiles are turned and transported to the side conveyor line frame. This design realizes the automatic steering and delivery of tiles to a certain extent, but it also has some technical limitations.

[0004] The right-angle lifting and steering device of the prior art has some defects in practical application. First, the device needs to use two cylinders to complete the steering and delivery of tiles, which not only increases the complexity of the system, but also increases the difficulty of maintenance and repair. The frequent movement of the cylinders can easily lead to wear and failure, thus affecting the stability and reliability of the entire production line. Secondly, the frequent movement of the cylinders may also generate greater noise and energy consumption, which is a problem that cannot be ignored for modern industrial production that pursues environmental protection and energy saving; thirdly, the tiles in the conventional production line need to pause before they can be turned and delivered during the steering and delivery process. This discontinuous movement affects the continuity and efficiency of the production line.

[0005] In addition to the high failure rate of the cylinder, the control accuracy of the tile delivery system in the prior art during the tile turning process needs to be improved. Since the tiles need to go through two steps of lifting and pushing during the turning process, this may cause the tiles to be offset or unstable during the turning process, affecting the quality and production efficiency of the tiles. In addition, the existing device may not be able to achieve flexible adjustment when handling tiles of different sizes and weights, limiting the adaptability and flexibility of the production line.

[0006] In summary, there are multiple problems in the delivery system of existing tile automated production technology, including but not limited to high cylinder failure rate, high energy consumption and noise, insufficient control accuracy, inconsistent delivery, and poor adaptability. These problems not only affect the production efficiency and quality of tiles, but also increase production costs and maintenance difficulties. Therefore, the existing technology is in urgent need of improvement to improve the overall performance and reliability of tile automated production. In view of this, the present invention is proposed. Summary of the invention

[0007] The object of the present invention is to provide a tile delivery system, a control method, a computer device and a storage medium. The tile delivery system provides an efficient, stable, environmentally friendly and economical solution for the automated production of tiles, overcoming many deficiencies of the prior art.

[0008] In order to achieve the above-mentioned purpose of the present invention, the following technical solutions are particularly adopted:

[0009] In a first aspect, the present invention provides a tile delivery system, comprising:

[0010] A first conveying platform and a second conveying platform arranged in a conveying direction, and a lifting device and a direction-changing conveying platform arranged between the first conveying platform and the second conveying platform; wherein the conveying direction of the direction-changing conveying platform is different from that of the first conveying platform and the second conveying platform;

[0011] The lifting device can control the target tiles delivered by the first conveying platform to be transported to the surface of the second conveying platform for linear transportation by adjusting the height, or control the target tiles delivered by the first conveying platform to be transported to the changing conveying platform for non-linear transportation.

[0012] In an optional embodiment, the vertical height of the conveying surface of the second conveying platform is higher than the vertical height of the conveying surface of the first conveying platform;

[0013] The vertical height of the conveying surface of the redirecting conveying platform is not higher than the vertical height of the conveying surface of the first conveying platform.

[0014] In an optional embodiment, the lifting device includes a roller mechanism, a lifting frame and a lifting cylinder arranged in sequence from top to bottom;

[0015] The roller mechanism comprises a roller shaft arranged on the lifting frame and a rubber wheel arranged on the roller shaft;

[0016] The lifting cylinder is connected to the lifting frame and can control the lifting frame to drive the roller mechanism at the upper end to rise or fall.

[0017] In an optional embodiment, a fixed table is provided under the direction-changing conveying platform;

[0018] The lifting device also includes a swing shaft;

[0019] The lifting frame is movably connected to the swing shaft, and is hinged to the fixed table under the direction-changing conveying platform through the swing shaft.

[0020] In an optional embodiment, the direction-changing conveying platform includes at least one set of conveying components; the conveying components include two rotating wheels and a conveying belt, and a lifting space is formed by the two rotating wheels and the conveying belts on the upper and lower sides;

[0021] The lifting frame is arranged in the lifting space, and can move between the two conveying belts in the lifting space under the action of the lifting cylinder.

[0022] In an optional embodiment, the lifting frame is provided with a plurality of groups of the roller mechanisms;

[0023] The roller mechanism is arranged at a corresponding position of the lifting frame different from the conveying belt, so that the rubber wheel in the roller mechanism can contact the bottom surface of the target tile through the space at both ends of the conveying belt when moving upward.

[0024] In an optional embodiment, the roller mechanism further includes a support member;

[0025] One end of the support member is connected to the roller shaft, and the other end is connected to the upper surface of the lifting frame.

[0026] In an optional embodiment, based on the height of the support member, when the lifting frame is lifted in the lifting space toward the upper end of the conveying belt by the lifting cylinder, the height of the upper cut surface of the rubber wheel can be higher than the upper end surface of the conveying belt, and the bottom surface of the target tile delivered by the first conveying platform can contact the rubber wheel and be conveyed to the second conveying platform by inertia;

[0027] Furthermore, when the lifting frame falls toward the conveyor belt at the lower end in the lifting space under the action of the lifting cylinder, the height of the upper cut surface of the rubber wheel can be lower than the upper end surface of the conveyor belt, and the bottom surface of the target tile delivered by the first conveying platform can contact the upper surface of the conveyor belt of the changing conveying platform and be transported by the conveyor belt of the changing conveying platform.

[0028] In a second aspect, the present invention provides a method for controlling a tile delivery system in any of the above embodiments, comprising:

[0029] Acquire a delivery instruction corresponding to the target tile on the first conveying platform; the delivery instruction includes a change-of-direction delivery instruction and a non-change-of-direction instruction;

[0030] Determining whether the delivery instruction is a redirected delivery instruction;

[0031] If not, it is determined whether the rubber wheel is at a preset position; wherein the preset position is that the height of the upper section of the rubber wheel is higher than the upper end surface of the conveyor belt of the direction-changing conveying platform;

[0032] If the rubber wheel is at the preset position, it is determined that the lifting device has reached the conveying state;

[0033] If the rubber wheel position is not at the preset position, it is determined that the lifting device has not reached the conveying state, and the lifting cylinder in the lifting device is controlled to act upward to make the lifting frame rise in the lifting space toward the upper end of the conveying belt, so that the height of the upper cut surface of the rubber wheel is higher than the upper end surface of the conveying belt of the changing conveying platform, reaching the preset position, so that the bottom surface of the target tile delivered by the first conveying platform can contact the rubber wheel, and be transported to the second conveying platform by inertia through the rubber wheel for linear transportation.

[0034] In an optional implementation manner, after determining whether the delivery instruction is a redirected delivery instruction, the method further includes:

[0035] If yes, determining whether the rubber wheel position is at the preset position;

[0036] If the rubber wheel is at the preset position, it is determined that the lifting device has reached the conveying state;

[0037] When the target tile is transported from the first conveying platform to the top of the lifting frame and contacts the rubber wheel, the lifting cylinder is controlled to act downward to make the lifting frame descend in the lifting space until the height of the upper cut surface of the rubber wheel is lower than the upper end surface of the conveying belt of the diverting conveying platform, and the bottom surface of the target tile contacts the upper end surface of the conveying belt of the diverting conveying platform through the rubber wheel, so that the speed of the target tile in the linear conveying direction is reduced to 0 m / s, and the target tile is transported in a non-linear direction through the conveying belt of the diverting conveying platform;

[0038] If the rubber wheel position is not at the preset position, it is determined that the lifting device has not reached the conveying state, and the lifting cylinder in the lifting device is controlled to act upward to make the lifting frame rise in the lifting space toward the upper end of the conveying belt, so that the height of the upper cut surface of the rubber wheel is higher than the upper end surface of the conveying belt of the change-direction conveying platform, reaching the preset position.

[0039] In an optional embodiment, when the target tile is transported from the first conveying platform to the top of the lifting frame and contacts the rubber wheel, the lifting cylinder is controlled to act downward to make the lifting frame descend in the lifting space until the height of the upper cut surface of the rubber wheel is lower than the upper end surface of the conveying belt of the diverting conveying platform, and the bottom surface of the target tile contacts the upper end surface of the conveying belt of the diverting conveying platform via the rubber wheel, so that the speed of the target tile in the linear conveying direction is reduced to 0 m / s, and the target tile is transported in a non-linear direction through the conveying belt of the diverting conveying platform, including:

[0040] Acquire an initial speed of the first conveying platform conveying the target tile in a straight direction, and calculate a trigger position corresponding to the target tile for the lifting frame to start a lowering action based on the initial speed;

[0041] The current position of the target tile is obtained, and based on the trigger position, the state of the lifting frame is controlled by a preset segmented control function model, so that when the target tile contacts the upper end surface of the conveying belt of the changing conveying platform, the initial speed of the target tile in the straight direction is reduced to 0m / s.

[0042] In an optional embodiment, the step of calculating the trigger position of the lifting frame corresponding to the target tile and starting the lowering action based on the initial speed includes:

[0043] Calculate the total deceleration of the target tile; the calculation expression of the total deceleration is: a=(μ1+μ2)×g; wherein a represents the total deceleration; μ1 represents the friction coefficient between the target tile and the rubber wheel; μ2 represents the friction coefficient between the target tile and the conveyor belt; g represents the acceleration of gravity;

[0044] The deceleration distance of the target tile is calculated according to the total deceleration; the calculation expression of the deceleration distance is: Wherein, d represents the deceleration distance required for the initial speed of the target tile to drop to 0 in the straight-line direction; V h represents the initial velocity of the target tile;

[0045] Based on the deceleration distance, the trigger position for the lifting frame to start the lowering action is calculated; the calculation expression of the trigger position is: start =Dd; where x start represents the trigger position; D represents the total distance of the conveyor belt from the target tile to the changing conveyor platform.

[0046] In an optional implementation, the expression of the preset segment control function model is:

[0047]

[0048] Wherein, H(x) represents the height of the lifting frame at position x; H lifted Represents the height of the lifting frame when it is raised; H lowered represents the height of the lifting frame after lowering;

[0049] The controlling the state of the lifting frame by using a preset segmented control function model comprises:

[0050] When the current position x of the target tile reaches x start When the lifting frame starts to descend,

[0051] Controls the target tile from x start In the process of reaching D, the height of the lifting frame is linearly lowered so that when x=d, the lifting frame is completely lowered and the target tile contacts the upper end surface of the conveyor belt, and the speed in the linear conveying direction can be reduced to 0m / s.

[0052] In a third aspect, the present invention provides a computer device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the control method of the tile delivery system described in the aforementioned embodiment.

[0053] In a fourth aspect, the present invention provides a computer storage medium storing a computer program, which, when executed on a processor, implements the control method of the tile delivery system described in the aforementioned embodiment.

[0054] The tile delivery system provided by the present application reduces the dependence on the traditional tile pushing cylinder by introducing a lifting device and a reversing conveying platform, effectively reduces the failure rate and reduces the wear of mechanical parts, thereby improving the stability and reliability of the system. At the same time, the optimized conveying path and energy-saving lifting and adjustment action help to reduce the energy consumption of the production line, reduce noise, and improve the working environment. The precise control ability of the lifting device reduces the position deviation of the tiles during the turning process, improves the conveying accuracy and product quality. In addition, the design of the reversing conveying platform enhances the adaptability of the system, enabling it to flexibly cope with tiles of different sizes and weights to meet diverse production needs. Simplified maintenance requirements and reduced maintenance costs, coupled with reduced failures and maintenance time, work together to improve the production efficiency of the entire tile production line. In short, the tile delivery system provides an efficient, stable, environmentally friendly and economical solution for the automated production of tiles, overcoming many shortcomings of the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 This is a schematic diagram of the three-dimensional structure of the tile delivery system in Example 1 of the present application;

[0057] Figure 2 A schematic diagram of the side structure of the tile delivery system in Example 2 of the present application;

[0058] Figure 3 A schematic diagram of the side plan view of the tile delivery system in Example 2 of the present application;

[0059] Figure 4 A schematic diagram of the structure of the lifting device and the direction-changing conveying platform in the tile delivery system in Example 2 of the present application;

[0060] Figure 5 A schematic diagram of the side structure of the lifting device and the direction-changing conveying platform in the tile delivery system in Example 2 of the present application;

[0061] Figure 6 A schematic diagram of the three-dimensional structure of the lifting device in the tile delivery system in Example 3 of the present application;

[0062] Figure 7 A schematic diagram of the longitudinal lateral structure of the lifting device in the tile delivery system in Example 3 of the present application;

[0063] Figure 8 A schematic diagram of the side structure in the width direction of the lifting device in the tile delivery system in Example 3 of the present application;

[0064] Fig. 9 A schematic diagram of the top view of the lifting device in the tile delivery system in Example 3 of the present application;

[0065] Fig.10 A flow chart of the control method of the tile delivery system in Example 4 of the present application.

[0066] Explanation of the main component symbols: 100-ceramic tile delivery system; 1-first conveying platform; 2-second conveying platform; 3-lifting device; 31-roller mechanism; 311-roller shaft; 312-rubber wheel; 313-support; 32-lifting frame; 33-lifting cylinder; 34-swinging shaft; 4-direction-changing conveying platform; 41-conveyor assembly; 411-rotating wheel; 412-conveyor belt; 413-lifting space; 5-fixed table. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0068] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0069] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present application, are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing items.

[0070] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0071] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art in the various embodiments of the present application. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0072] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0073] Example 1

[0074] refer to Figure 1 In this embodiment, a tile delivery system 100 is provided, comprising:

[0075] A first conveying platform 1 and a second conveying platform 2 are arranged according to a conveying direction, and a lifting device 3 and a direction-changing conveying platform 4 are arranged between the first conveying platform 1 and the second conveying platform 2; wherein the conveying direction of the direction-changing conveying platform 4 is different from that of the first conveying platform 1 and the second conveying platform 2.

[0076] The lifting device 3 can control the target tiles delivered by the first conveying platform 1 to be transported to the surface of the second conveying platform 2 for linear transportation by adjusting the height, or control the target tiles delivered by the first conveying platform 1 to be transported to the changing conveying platform 4 for non-linear transportation.

[0077] The above-mentioned tile delivery system 100 realizes efficient transfer of tiles in different conveying directions through the first conveying platform 1, the second conveying platform 2, the lifting device 3 and the direction-changing conveying platform 4. Each component of the system has a clear function and improved processing in the structure to solve the deficiencies in the prior art.

[0078] The target tiles are specific tiles that are delivered to the lifting device 3 by the first conveying platform 1 and then transported in different directions during the automated production process. These tiles will be transported to the second conveying platform 2 or the disguised conveying platform according to the control of the system to achieve linear or non-linear transportation.

[0079] The first conveying platform 1 and the second conveying platform 2 are arranged in a conveying direction, forming a straight conveying path for tiles from production to packaging. This arrangement simplifies the conveying process of tiles and reduces the complexity of the conveying process. The introduction of the reversing conveying platform 4, whose conveying direction is different from the first and second conveying platforms 2, provides a non-linear conveying option for tiles, increasing the flexibility of the production line.

[0080] As mentioned above, the conveying directions of the first conveying platform 1 and the second conveying platform 2 can be the same, forming a straight conveying direction for the target tile.

[0081] The conveying direction of the reversing conveying platform 4 is different from the straight conveying direction, and its conveying direction can intersect with the straight conveying direction to form a certain angle for conveying tiles. For example, in one embodiment, the conveying direction of the reversing conveying platform 4 forms a 90° angle with the conveying directions of the first conveying platform 1 and the second conveying platform 2, forming a right-angle non-straight direction of conveyance. In addition, it can also be 120°, 150°, etc.

[0082] With this structure, the tile delivery system 100 in this embodiment can deliver target tiles in at least two directions: (1) linear delivery direction: delivery from the first delivery platform 1 to the second delivery platform 2. (2) non-linear delivery direction: delivery from the first delivery platform 1 to the direction-changing delivery platform 4.

[0083] It can be seen that the target tiles are all output from the first conveying platform 1, and can be further transferred to the second conveying platform 2 for conveying in a straight conveying direction, or transferred to the changing conveying platform 4 for conveying in a non-linear conveying direction, through the lifting device 3 according to production needs.

[0084] The lifting device 3 is the core of the system, which controls the conveying direction of the tiles by adjusting the height. This design replaces the traditional right-angle lifting and steering device that requires two cylinders to push, reduces the frequency of cylinder action, and thus reduces the failure rate. The precise control ability of the lifting device 3 reduces the position deviation of the tiles during the steering process, improves the conveying accuracy of the tiles, and thus improves the product quality.

[0085] In terms of connection, the lifting device 3 is connected to the first conveying platform 1 and the direction-changing conveying platform 4, and the tiles are transferred between different platforms through lifting actions. This connection method constitutes an efficient tile delivery system 100, which can solve the problems of high cylinder failure rate, high energy consumption, and high noise in the prior art. At the same time, the structure of the lifting device 3 is relatively simple, which is easy to inspect and repair, simplifies maintenance work, and reduces maintenance costs.

[0086] It should be noted that in conventional production lines, the tile transportation route is usually narrow and does not have the conditions for long-distance buffer transportation. At the same time, the width of the conveying platform is relatively limited, which basically matches the size of the tile. In this context, the tile delivery system 100 provided in this embodiment can address the defects in conventional technologies and can quickly and effectively realize the reversing transportation of tiles when the width of the conveying platform is limited. Compared with the conventional technology, the delivery speed is slow, or it is necessary to improve the production line and widen the conveying platform to achieve it. However, this system does not need to widen and transform the conveying platform to achieve the purpose of rapid reversing transportation, which significantly improves the transportation efficiency and space utilization. This innovative design not only saves space, but also improves the flexibility and economy of operation, and provides a more efficient and compact solution for logistics transportation in narrow spaces. In addition, the design of the system also takes into account the stability, adaptability and continuity of tiles during transportation. Through the precise control of the lifting device 3, the transfer of tiles between different conveying platforms is smoother, the risk of tile breakage is reduced, and the delivery process is smoother, avoiding pauses that affect production efficiency. At the same time, the system can adapt to tiles of different sizes and weights, improving the adaptability and flexibility of the production line.

[0087] It should be noted that the system provided in this embodiment, in addition to transporting, delivering and conveying tiles to designated locations, can also sort and / or divert tiles according to production needs.

[0088] In summary, the tile delivery system 100, through its structural design and connection relationship, provides a more efficient, more reliable and more environmentally friendly tile automated production solution, effectively solving many problems in the prior art.

[0089] Example 2

[0090] refer to Figure 2 In this embodiment, based on the above-mentioned embodiment 1, a tile delivery system 100 is provided, wherein the vertical height of the delivery surface of the second delivery platform 2 is higher than the vertical height of the delivery surface of the first delivery platform 1. The vertical height of the delivery surface of the change-direction delivery platform 4 is not higher than the vertical height of the delivery surface of the first delivery platform 1. The top view of the tile delivery system 100 is shown in FIG. Figure 3 .

[0091] As mentioned above, the conveying surface of the second conveying platform 2 is higher in the vertical direction than the conveying surface of the first conveying platform 1. This arrangement allows the tiles to be more smoothly transferred to the second conveying platform 2 by gravity when being delivered from the first conveying platform 1 to the second conveying platform 2, thereby reducing the impact force of the tiles during the transfer process and reducing the risk of breakage.

[0092] The conveying direction of the reversing conveying platform 4 is different from that of the first and second conveying platforms 2, providing a non-linear conveying option for the tiles. The conveying surface of the reversing conveying platform 4 is not higher than the first conveying platform 1 in the vertical direction, which helps the tiles to be effectively transferred to the reversing conveying platform 4 without adding additional height for non-linear conveying, maintaining the compactness of the production line and reducing space occupancy.

[0093] As the core component of the system, the lifting device 3 controls the conveying direction of the tiles by adjusting the height. When the tiles need to be conveyed to the second conveying platform 2, the lifting device 3 lifts the tiles to a sufficient height to form a slope so that they can smoothly transition to the higher second conveying platform 2. When the tiles need to be conveyed to the reversing conveying platform 4, the lifting device 3 can be lowered to a lower height so that the tiles can be smoothly transferred to the reversing conveying platform 4 with a different conveying direction.

[0094] The advantage of this design is that it improves the flexibility and efficiency of tile delivery. By precisely controlling the delivery height of tiles, the system can adapt to different production needs, whether it is straight-line delivery or non-straight-line directional delivery. At the same time, this design also helps to reduce tile breakage during delivery and improve the overall performance of the production line.

[0095] The system solves the stability and breakage problems that may be encountered when transferring tiles between conveying platforms at different heights in the prior art. By optimizing the height difference of the conveying platforms, the system can handle the transfer of tiles more effectively, especially when the conveying direction needs to be changed, which can reduce the impact and breakage of tiles caused by height changes.

[0096] In summary, the tile delivery system 100 provides a more stable and efficient tile transportation solution through the control of the height difference and the lifting device 3, which helps to improve the operating efficiency and product quality of the tile production line.

[0097] For further reference, Figure 4 and Figure 5 The lifting device 3 includes a roller mechanism 31, a lifting frame 32 and a lifting cylinder 33 which are arranged in sequence from top to bottom; the roller mechanism 31 includes a roller shaft 311 arranged on the lifting frame 32 and a rubber wheel 312 arranged on the roller shaft 311; the lifting cylinder 33 is connected to the lifting frame 32, and can control the lifting frame 32 to drive the roller mechanism 31 at the upper end to rise or fall.

[0098] As mentioned above, the roller mechanism 31 includes a roller shaft 311 disposed on the lifting frame 32 and a rubber wheel 312 disposed on the roller shaft 311. This design allows the tiles to achieve a smooth transition through the rolling of the rubber wheel 312 during the lifting process, reducing the friction between the tiles and the conveying platform and reducing the risk of damage.

[0099] The lifting frame 32 is the main bearing structure of the lifting device 3, and it is raised or lowered by the control of the lifting cylinder 33. The design of the lifting frame 32 enables the height of the tiles to be adjusted between different conveying platforms to meet different conveying requirements.

[0100] In the tile delivery system 100, the rubber wheel 312 is a key component of the lifting device 3, and its material and friction characteristics are crucial to the performance of the entire system. The material of the rubber wheel 312 is usually selected to have good wear resistance, chemical corrosion resistance, high strength, high elasticity, low pressure resistance, strong shock absorption, tear resistance and other characteristics to ensure its stability and durability during the tile delivery process. For example, the material of the rubber wheel 312 can be polyurethane (PU), because of its high strength and wear resistance, relatively light weight, and easy processing, it has become the preferred rubber coating material in many industrial equipment.

[0101] In terms of friction, the friction coefficient of the rubber wheel 312 is an important parameter for evaluating its friction behavior, which directly affects the friction performance and service life of the rubber wheel 312. The friction coefficient is affected by many factors, including material properties, wheel and ground materials, lubricants, ambient temperature and load, etc. In the tile delivery system 100, the friction of the rubber wheel 312 needs to be large enough to prevent the tiles from slipping during transportation and to generate a certain amount of friction when the target tiles contact the surface of the rubber wheel 312, but it should not be too large to avoid unnecessary energy consumption and wear.

[0102] It should be noted that the target tiles have certain requirements for friction when being transported in different directions. The rubber wheels 312 in this embodiment can all be passive wheels, that is, they do not generate active rotational power. When transporting in the straight conveying direction, the target tiles are transported from the middle of the first conveying platform 1 to the second conveying platform 2 via the rubber wheels 312 on the lifting frame 32; and when transporting in the non-straight conveying direction, the target tiles are transported from the first conveying platform 1 to the rubber wheels 312 of the lifting frame 32, and reach the diverting conveying platform 4 to achieve non-straight conveying. At this time, the tiles are affected by two friction forces, resulting in the speed in the straight conveying direction being reduced to 0, and at the same time, they can be transported non-straightly under the drive of the belt of the diverting conveying platform 4. The two friction forces can be: the friction between the bottom surface of the tile and the rubber wheel 312, and the friction between the bottom surface of the tile and the surface of the diverting conveying platform 4.

[0103] In order to meet the needs of the tile delivery system 100, the design of the rubber wheel 312 needs to take into account the friction coefficient between it and the tile contact surface to ensure that the tiles can smoothly transition between different conveying platforms. By reasonably selecting materials, using lubricants, controlling ambient temperature and other methods, the friction coefficient of the wheel can be changed, thereby improving the movement efficiency and service life of the tile delivery system 100. For example, by selecting a polyurethane material with appropriate hardness and surface roughness, the friction coefficient of the rubber wheel 312 can be adjusted to adapt to different working environments and tile characteristics. As mentioned above, the lifting frame 32 is the main bearing structure of the lifting device 3, which is raised or lowered by the control of the lifting cylinder 33. The design of the lifting frame 32 enables the tiles to be adjusted in height between different conveying platforms to adapt to different conveying needs and flexibly switch according to instructions.

[0104] The lifting device 3 improves the stability and efficiency of the tiles during transportation through the design of the roller mechanism 31. The introduction of the roller mechanism 31 reduces the friction and impact of the tiles during transportation, thereby reducing the possibility of tile breakage. Through the combination of the roller mechanism 31, the lifting frame 32 and the lifting cylinder 33, a lifting device 3 is formed that can achieve a smooth transition of tiles between transportation platforms at different heights. This structure not only improves the transportation efficiency of tiles, but also enhances the stability and reliability of the system.

[0105] The advantages of this structure are that it can reduce the breakage of tiles during transportation, improve transportation efficiency, reduce energy consumption, and simplify system maintenance by reducing the use of cylinders.

[0106] The lifting device 3 solves the stability and breakage problems that may be encountered when the tiles are transferred between conveying platforms at different heights in the traditional technology. By optimizing the structure of the lifting device 3, the system can handle the transfer of tiles more effectively, especially when the conveying direction needs to be changed, which can reduce the impact and breakage of tiles caused by height changes.

[0107] In addition, the lifting cylinder 33 can be automatically controlled. For example, in the tile delivery system 100 of this example, the control device of the lifting cylinder 33 is a key component, which is composed of a cylinder control valve, a position sensor, a control system (such as a PLC or a microcontroller), a human-machine interface (HMI), and a safety mechanism. The cylinder control valve is responsible for controlling the inflation and deflation of the lifting cylinder 33 to achieve the rise and fall of the lifting frame 32. The position sensor is installed on the lifting frame 32 to monitor and feedback the current position of the lifting frame 32 in real time to ensure that the lifting frame 32 can accurately reach the predetermined height.

[0108] The control system, as the brain of the entire device, controls the opening and closing of the cylinder control valves based on feedback from the position sensors and instructions input by the operator through the HMI to achieve precise control of the lifting frame 32. The HMI allows the operator to set parameters such as the target height of the lifting frame 32 and start, stop and monitor the lifting process. Safety mechanisms include an emergency stop button, overload protection and limit switches to prevent the lifting frame 32 from exceeding the safe working range or automatically stopping in the event of a fault.

[0109] The control principle includes initializing the system, receiving the operator's instructions, determining the height that the lifting frame 32 needs to reach, controlling the cylinder to rise, feeding back the position information through the position sensor, stopping the rise after reaching the target height, and controlling the cylinder to descend if steering is required, until the rubber wheel 312 contacts the reversing conveying platform 4, and returns to the initial position after the conveying is completed. During the whole process, the safety mechanism continuously monitors to ensure safe operation. Through this design, the control device of the lifting cylinder 33 can accurately control the transfer of tiles between different conveying platforms, thereby improving the automation level and efficiency of the tile delivery system 100.

[0110] Furthermore, the rolling direction of the rubber wheel 312 in the roller mechanism 31 is consistent with the forward direction of the target tile delivered by the first conveying platform 1 .

[0111] As mentioned above, the rolling direction of the rubber wheel 312 is consistent with the forward direction of the target tile delivered by the first conveying platform 1. This design improvement ensures the stability of the tile during the conveying process, and at the same time, when the target tile is conveyed in a straight conveying direction by inertia, the friction and wear caused by inconsistent directions are reduced, thereby improving the conveying efficiency and the safety of the tile.

[0112] The advantages of this structure are that it can reduce the damage of tiles during transportation, improve transportation efficiency, reduce energy consumption, and simplify the maintenance of the system by reducing the use of cylinders. At the same time, the rolling direction of the rubber wheel 312 is consistent with the forward direction of the tiles, which helps to reduce the resistance of the tiles when turning, making the turning smoother and improving the accuracy and efficiency of the tile turning.

[0113] Example 3

[0114] In this embodiment, based on the above-mentioned embodiment 2, a tile delivery system 100 is provided, wherein a fixed table top 5 is provided under the change-of-direction conveying platform 4; the lifting device 3 also includes a swing shaft 34; the lifting frame 32 is movably connected to the swing shaft 34, and is hinged to the fixed table top 5 under the change-of-direction conveying platform 4 through the swing shaft 34.

[0115] As mentioned above, the fixed table 5 is arranged below the direction-changing conveying platform 4 as a stable base for the lifting device 3. It provides a fixed connection point for the lifting frame 32, which helps to reduce vibration and deviation that may occur during the transportation of tiles.

[0116] The lifting device 3 includes a roller mechanism 31, a lifting frame 32 and a lifting cylinder 33. The roller mechanism 31 is composed of a roller shaft 311 and a rubber wheel 312. The rolling direction of the rubber wheel 312 is consistent with the forward direction of the tiles, which helps the tiles to transition smoothly during the transportation process.

[0117] The lifting frame 32 is movably connected to the swing shaft 34 and is hinged to the direction-changing fixed table 5 through the swing shaft 34. This design allows the lifting frame 32 to swing within a certain angle range to adapt to the height difference and direction change of the tiles between different conveying platforms.

[0118] By introducing the swing shaft 34, the lifting frame 32 can swing around the swing shaft 34 as the axis, so that the lifting frame 32 itself and the rubber wheel 312 on its upper end can be lifted and lowered in the vertical direction, and fine-tuned in the horizontal direction, which increases the flexibility and adaptability of tile delivery. This structure constitutes a lifting device 3 that can achieve a smooth transition of tiles between conveying platforms of different heights and directions, while maintaining the stability of the system, reducing the damage of tiles during the conveying process, improving the conveying efficiency, reducing energy consumption, and simplifying the maintenance of the system by reducing the use of cylinders.

[0119] In this embodiment, the stability and breakage problems that may be encountered when the tiles are transferred between conveying platforms at different heights in the prior art are solved. By optimizing the structure of the lifting device 3, the system can more effectively handle the transfer of tiles, especially when the conveying direction needs to be changed, and can reduce the impact and breakage of the tiles caused by the height change.

[0120] For example, when the tiles need to be transported from the first conveying platform 1 to the second conveying platform 2, the lifting cylinder 33 controls the lifting frame 32 to rise, so that the rubber wheel 312 smoothly lifts the tiles to the height of the second conveying platform 2. When the tiles need to turn to the reversing conveying platform 4, the lifting frame 32 swings the swing shaft 34 to make the rubber wheel 312 contact with the conveying surface of the reversing conveying platform 4, thereby realizing the turning conveying of the tiles.

[0121] In summary, the tile delivery system 100 provides a more stable and efficient tile transportation solution through its lifting device 3 design, which helps to improve the operating efficiency and product quality of the tile production line.

[0122] Furthermore, the redirecting conveying platform 4 includes at least one group of conveying components 41; the conveying components 41 include two rotating wheels 411 and a conveying belt 412; at least one of the rotating wheels 411 is a driving wheel; the conveying belt 412 passes around the two rotating wheels 411 to form a closed loop, and can move synchronously under the drive of the rotating wheels 411.

[0123] The above-mentioned direction-changing conveying platform 4 is a key component in the system responsible for realizing the non-linear direction conveying of tiles, and includes at least one set of conveying components 41, which work together to realize the turning conveying of tiles. Each set of conveying components 41 is composed of two rotating wheels 411 and a conveying belt 412. The rotating wheels 411 are the core of the conveying components 41, and at least one of them is a driving wheel responsible for driving the movement of the conveying belt 412.

[0124] For example, two groups of conveying components 41 may be arranged symmetrically and in parallel, and the target tiles may be conveyed more smoothly on the conveying belts 412 of the two groups of conveying components 41 .

[0125] The conveying belt 412 passes around the two rotating wheels 411 to form a closed loop, and can move synchronously under the drive of the rotating wheels 411. This design ensures the stable conveying of tiles on the direction-changing conveying platform 4.

[0126] The rubber wheel 312 and the lifting frame 32 in the lifting device 3 do not contact the conveying belt 412 and the rotating wheel 411 , and the lifting and lowering thereof does not affect the movement of the conveying belt 412 and the rotating wheel 411 .

[0127] In this embodiment, the structure of the reversing conveying platform 4 is improved by introducing the design of the conveying assembly 41. This design makes the tiles more stable during the turning process and reduces the sliding or tilting that may occur during the turning process. This structure constitutes a reversing conveying platform 4 that can realize stable conveying of tiles in different directions, thereby improving the flexibility and efficiency of tile delivery. It can improve the stability of tiles during the turning conveying process, reduce the risk of tile breakage, improve the conveying efficiency, and ensure the continuity and uniformity of tile delivery through the closed-loop conveying belt 412 design.

[0128] Furthermore, in the conveying assembly 41, a lifting space 413 is formed by the two rotating wheels 411 and the conveying belts 412 on the upper and lower sides; the lifting frame 32 is arranged in the lifting space 413, and can move between the two conveying belts 412 in the lifting space 413 under the action of the lifting cylinder 33.

[0129] The conveying assembly 41 is composed of two rotating wheels 411 and a conveying belt 412, wherein at least one rotating wheel 411 is a driving wheel responsible for driving the movement of the conveying belt 412. This design allows the tiles to be transported in a direction-changing manner on the reversing conveying platform 4.

[0130] The lifting space 413 is composed of two rotating wheels 411 and conveyor belts 412 on the upper and lower sides, providing a passage for the lifting frame 32 to pass through. The lifting frame 32 is arranged in the lifting space 413 and can move in this space without affecting the movement of the conveyor assembly 41. This space design enables the lifting frame 32 to move between the two conveyor belts 412 under the action of the lifting cylinder 33.

[0131] In this embodiment, by introducing the concept of the lifting space 413, the conveying method of tiles on the diverting conveying platform 4 is improved. The lifting frame 32 can move in the lifting space 413, making the diverting conveying of tiles more flexible and efficient. This structure constitutes a diverting conveying platform 4 that can realize stable conveying of tiles at different heights and directions, while maintaining the compactness and stability of the system, which can improve the stability of tiles during the diverting conveying process, reduce the risk of tile breakage, improve the conveying efficiency, and ensure the continuity and uniformity of tile conveying through the design of the lifting space 413.

[0132] The problem of insufficient stability and low efficiency of conveying tiles in conventional technology during steering conveying is solved. By optimizing the design of the conveying assembly 41 and the lifting space 413, the system can more effectively handle the steering conveying of tiles, especially when the conveying direction needs to be changed, and can reduce the impact and damage of tiles caused by steering.

[0133] For further reference, Figure 6 , the lifting frame 32 is provided with a plurality of roller mechanisms 31; the roller mechanisms 31 are provided at corresponding positions of the lifting frame 32 different from the conveying belt 412, so that the rubber wheels 312 in the roller mechanisms 31 can contact the bottom surface of the target tile through the spaces at both ends of the conveying belt 412 (spaces on both sides parallel to the length direction of the conveying belt 412) when moving upward. Figure 7 to Figure 9 .

[0134] As mentioned above, the lifting frame 32 may be provided with multiple sets of roller mechanisms 31, which are distributed at different positions of the lifting frame 32, different from the corresponding positions of the conveyor belt 412. Such a design allows the lifting frame 32 to be adjusted in height within the lifting space 413, and at the same time, the roller mechanisms 31 are in contact with the bottom surface of the tile to assist in the turning of the tile.

[0135] The rubber wheel 312 is designed to be positioned on the lifting frame 32 so that when the lifting frame 32 moves upward, the rubber wheel 312 can contact the bottom surface of the tile through the space at both ends of the conveying belt 412. This layout helps to provide additional support and guidance during the turning process of the tile, ensuring that the tile smoothly transitions from the first conveying platform 1 to the changing conveying platform 4.

[0136] By increasing the number of roller mechanisms 31 and optimizing their layout, the turning process of the tiles on the direction-changing conveying platform 4 is improved. This design reduces the friction and wear of the tiles during turning, and improves the stability and efficiency of the turning.

[0137] For example, the first conveying platform 1 and the second conveying platform 2 are arranged in a straight line. In the direction-changing conveying platform 4, there are two groups of conveying components 41, namely the first component and the second component, which are symmetrically and side by side, and their length direction is perpendicular to the straight line where the first conveying platform 1 and the second conveying platform 2 are located, that is, forming a 90° angle. The roller mechanism 31 on the lifting frame 32 includes 3 groups, namely Group A, Group B and Group C. In a top-view angle, the roller mechanism 31 is arranged between the conveying belts 412 of the lifting frame 32 that are different from the first component and the second component, and at the corresponding position outside the conveying belts 412 of the first component and the second component, that is, the spatial position of the conveying belt 412 can be arranged in sequence as: Group A, the belt of the first component, Group B, the belt of the second component, and Group C.

[0138] This structure forms a reversing conveying platform 4 that can realize stable turning of tiles at different heights and directions, while maintaining the compactness and stability of the system. It can improve the stability of tiles during the turning and conveying process, reduce the risk of tile breakage, improve the conveying efficiency, and ensure the accuracy and efficiency of tile turning through the assistance of the roller mechanism 31.

[0139] Furthermore, the roller mechanism 31 further includes a support member 313 ; one end of the support member 313 is connected to the roller shaft 311 , and the other end of the support member 313 is connected to the upper surface of the lifting frame 32 .

[0140] As mentioned above, one end of the support member 313 is connected to the roller shaft 311, and the other end is connected to the upper surface of the lifting frame 32. This design provides additional support, ensuring that the rubber wheel 312 has a certain height in the spatial position and the stability of the roller mechanism 31 during the lifting process.

[0141] Furthermore, based on the height of the support member 313, when the lifting frame 32 is lifted in the lifting space 413 toward the upper end of the conveying belt 412 under the action of the lifting cylinder 33, the height of the upper cut surface of the rubber wheel 312 can be higher than the upper end surface of the conveying belt 412, and the bottom surface of the target tile delivered by the first conveying platform 1 can contact the rubber wheel 312 and be conveyed to the second conveying platform 2 by inertia; and, when the lifting frame 32 falls in the lifting space 413 toward the lower end of the conveying belt 412 under the action of the lifting cylinder 33, the height of the upper cut surface of the rubber wheel 312 can be lower than the upper end surface of the conveying belt 412, and the bottom surface of the target tile delivered by the first conveying platform 1 can contact the upper surface of the conveying belt 412 of the changing conveying platform 4 and be conveyed by the conveying belt 412 of the changing conveying platform 4.

[0142] As mentioned above, one end of the support member 313 is connected to the roller shaft 311, and the other end is connected to the upper surface of the lifting frame 32. The support member 313 is designed to improve the stability of the roller mechanism 31 and ensure that the rubber wheel 312 can stably contact the bottom surface of the tile during the lifting process.

[0143] The lifting cylinder 33 controls the lifting frame 32 to move up and down in the lifting space 413. When the lifting frame 32 rises, the upper cut surface of the rubber wheel 312 is higher than the upper end surface of the conveying belt 412, so that the tiles can be conveyed to the second conveying platform 2 by inertia. When the lifting frame 32 descends, the upper cut surface of the rubber wheel 312 is lower than the upper end surface of the conveying belt 412, so that the tiles can contact the upper surface of the conveying belt 412 of the reversing conveying platform 4 and start to move on the reversing conveying platform 4.

[0144] In this embodiment, by limiting the height of the support member 313 and the movement mode of the lifting frame 32, the transition process of the tiles between different conveying platforms is improved. This design ensures the stability and accuracy of the tiles during the turning and conveying. This structure allows the tiles to achieve smooth turning on the direction-changing conveying platform 4 by adjusting the height of the lifting space 413 under the drive of the lifting frame 32, which can improve the stability of the tiles during the turning and conveying process, reduce the risk of tile breakage, improve the conveying efficiency, and ensure the accuracy and efficiency of the tile turning with the assistance of the support member 313.

[0145] Example 4

[0146] refer to Fig.10 In this embodiment, based on the above embodiment, a control method of a tile delivery system 100 is provided, including:

[0147] Step S100, obtaining a delivery instruction corresponding to the target tile on the first conveying platform 1; the delivery instruction includes a change-of-direction delivery instruction and a non-change-of-direction instruction.

[0148] In this embodiment, the system needs to obtain the delivery instructions for the tiles on the first conveying platform 1 from the control center or the operator. Through the input device or the automatic detection system, the system identifies and records the delivery requirements of each tile. The system obtains specific instructions for tile delivery, including direction-changing delivery instructions and non-direction-changing instructions. By obtaining instructions, the accuracy and efficiency of tile delivery are improved, and the possibility of erroneous delivery is reduced. For example, the delivery instructions can be obtained through operator input or an automatic recognition system (such as a barcode scanner, RFID reader).

[0149] Specifically, this can be achieved through programmed logic, for example, using sensors to detect tile positions and automatically generate delivery instructions.

[0150] Step S200, determining whether the delivery instruction is a redirected delivery instruction.

[0151] As mentioned above, the system needs to determine whether the acquired delivery instruction requires the tile to change direction during the delivery process. Through logical judgment or algorithm analysis of the content of the delivery instruction, it is determined whether the tile needs to be delivered in a changed direction. In this embodiment, the delivery path can be adjusted according to different delivery requirements, thereby improving the flexibility of the system.

[0152] Specifically, conditional judgment logic can be implemented through programming, for example, using if-else statements to determine whether a change of direction is required.

[0153] Step S300 , if not, determine whether the rubber wheel 312 is at a preset position; wherein the preset position is that the height of the upper section of the rubber wheel 312 is higher than the upper end surface of the conveying belt 412 of the direction-changing conveying platform 4 .

[0154] As mentioned above, if the tiles do not need to be delivered in a changed direction, the system needs to check whether the rubber wheel 312 is in a preset position. The system can detect the position of the rubber wheel 312 through a sensor or an encoder. The system determines whether the rubber wheel 312 is in the correct position for straight-line delivery. The continuity and accuracy of the delivery process are ensured, and delivery failures caused by position errors are avoided.

[0155] Specifically, a position sensor or an encoder may be used to detect the position of the rubber wheel 312 .

[0156] For example, the preset position is that the lifting frame 32 is in the correct position, so that the height of the upper cut surface of the rubber wheel 312 is higher than the upper end surface of the conveying belt 412 of the redirecting conveying platform 4, achieving the state of transporting and delivering tiles.

[0157] For example, the straight lines formed by the cut surfaces on the multiple rubber wheels 312 can intersect with the first transmission platform and the second transmission platform, and the target tiles can smoothly contact the rubber wheels 312 after leaving the first transmission platform, and continue to move forward by inertia to smoothly reach the second transmission platform.

[0158] Step S400: If the rubber wheel 312 is at the preset position, it is determined that the lifting device 3 has reached the conveying state.

[0159] As described above, if the rubber wheel 312 is in the correct position, the system determines that the lifting device 3 is ready for delivery. The system confirms the status of the lifting device 3 and is ready for delivery operation. The lifting device 3 is ready to start delivering tiles. The reliability of delivery is improved and the smooth progress of the delivery process is ensured. The status of the lifting device 3 can be displayed to the operator through a status indicator or a display screen.

[0160] Step S500, if the position of the rubber wheel 312 is not at the preset position, it is determined that the lifting device 3 has not reached the conveying state, and the lifting cylinder 33 in the lifting device 3 is controlled to act upward to make the lifting frame 32 rise in the lifting space 413 toward the upper end of the conveying belt 412, so that the height of the upper cut surface of the rubber wheel 312 is higher than the upper end surface of the conveying belt 412 of the change-direction conveying platform 4, reaching the preset position.

[0161] If the rubber wheel 312 is not in the correct position, the system determines that the lifting device 3 is not ready for delivery. The system can send a control signal to adjust the position of the lifting device 3. The lifting device 3 is adjusted to the correct position and is ready for delivery. The accuracy and efficiency of the delivery process can be ensured by automatic adjustment, and the position of the lifting frame 32 can be adjusted by controlling the action of the lifting cylinder 33 through the PLC (programmable logic controller).

[0162] During adjustment, the system controls the lifting cylinder 33 to raise the lifting frame 32 so that the height of the rubber wheel 312 is higher than the conveying belt 412 of the reversing conveying platform 4. The system sends a control signal to the lifting cylinder 33 to move the lifting frame 32 upward. The lifting frame 32 rises, and the rubber wheel 312 reaches the correct height, ready to deliver the tiles, thereby ensuring that the tiles can be smoothly delivered from the first conveying platform 1 to the second conveying platform 2.

[0163] The precise positioning of the lifting frame 32 can be achieved by precisely controlling the stroke of the lifting cylinder 33, so that in this step, the bottom surface of the target tile delivered by the first conveying platform 1 can contact the rubber wheel 312 and be conveyed to the second conveying platform 2 by inertia through the rubber wheel 312 for linear conveyance.

[0164] As described above, after adjustment, it is possible to ensure that the height of the rubber wheel 312 is higher than the conveying belt 412 and reaches a preset position so that the tile can smoothly contact the rubber wheel 312. The system achieves this condition by adjusting the height of the lifting frame 32. The bottom surface of the tile can contact the rubber wheel 312 and be transported to the second conveying platform 2 through the rubber wheel 312 by inertia.

[0165] After the tiles contact the rubber wheel 312, they are transported to the second transport platform 2 by inertia. The system controls the speed and position of the rubber wheel 312 to ensure that the tiles can smoothly reach the second transport platform 2. The tiles are transported to the second transport platform 2 in a straight line, thereby simplifying the delivery process and reducing the complexity and possible errors in the delivery process.

[0166] Specifically, the linear transportation of the tiles can be achieved by precisely controlling the speed and position of the rubber wheel 312 .

[0167] Furthermore, after determining whether the delivery instruction is a redirected delivery instruction, the method further includes:

[0168] Step S600: If yes, determine whether the rubber wheel 312 is at the preset position.

[0169] If the delivery instruction requires a change of direction delivery, the system needs to check whether the rubber wheel 312 is at the preset position required for the change of direction delivery, and detect the current position of the rubber wheel 312 through the sensor and compare it with the preset position. It determines whether the rubber wheel 312 is already at the position required for the change of direction delivery. This ensures the accuracy and timeliness of the change of direction delivery and avoids delivery failures caused by position errors.

[0170] Specifically, a position sensor or an encoder may be used to detect the position of the rubber wheel 312 .

[0171] Step S700, if the rubber wheel 312 is at the preset position, it is determined that the lifting device 3 has reached the conveying state;

[0172] If the rubber wheel 312 is already in the preset position, the system determines that the lifting device 3 is ready for the reverse delivery. The system confirms the state of the lifting device 3 and is ready for the reverse delivery operation. The lifting device 3 is ready and can start the reverse delivery of tiles.

[0173] Step S800, when the target tile is transported by the first conveying platform 1 to the top of the lifting frame 32 and contacts the rubber wheel 312, the lifting cylinder 33 is controlled to act downward to make the lifting frame 32 descend in the lifting space 413 until the height of the upper cut surface of the rubber wheel 312 is lower than the upper end surface of the conveying belt 412 of the changing conveying platform 4, and the bottom surface of the target tile contacts the upper end surface of the conveying belt 412 of the changing conveying platform 4 through the rubber wheel 312, so that the speed of the target tile in the straight conveying direction is reduced to 0m / s, and the conveying belt 412 of the changing conveying platform 4 is used for non-linear conveying.

[0174] As mentioned above, when the tile reaches the top of the lifting frame 32 and contacts the rubber wheel 312, the system controls the lifting cylinder 33 to lower the lifting frame 32. The system sends a control signal to the lifting cylinder 33 to move the lifting frame 32 downward. When the lifting frame 32 is lowered, the height of the upper cut surface of the rubber wheel 312 is lower than the upper end surface of the conveying belt 412 of the reversing conveying platform 4. This ensures that the tile can be smoothly transferred from the rubber wheel 312 to the reversing conveying platform 4.

[0175] The bottom surface of the tile contacts the upper surface of the conveyor belt 412 of the reversing conveying platform 4 through the rubber wheel 312. The system controls the descending speed and position of the lifting frame 32 to ensure that the tile can be transferred smoothly. The tile is successfully transferred to the reversing conveying platform 4 and begins to be transported in a non-linear direction.

[0176] The system needs to reduce the speed of the tiles in the straight conveying direction to zero to ensure safe transfer to the diverting conveying platform 4. The system controls the speed of the lifting cylinder 33 and the conveying platform to make the speed of the tiles zero during transfer. The tiles are completely stopped before diverting the conveying, avoiding deviation from the conveying belt 412, falling, damage or delivery failure caused by speed mismatch, thereby ensuring the safety and accuracy of the tiles during the transfer process.

[0177] Specifically, the precise stopping of the tiles can be achieved by controlling the speed of the conveying platform and the lifting cylinder 33 .

[0178] Finally, the tiles start to be transported in a non-linear direction on the direction-changing transport platform 4. The system controls the conveying belt 412 of the direction-changing transport platform 4 to start the non-linear transport operation. The tiles are transported to the destination along a predetermined non-linear path.

[0179] In step S900, if the rubber wheel 312 is not in the preset position, it is determined that the lifting device 3 has not reached the conveying state, and the lifting cylinder 33 in the lifting device 3 is controlled to act upward to make the lifting frame 32 rise in the lifting space 413 toward the upper end of the conveying belt 412, so that the height of the upper cut surface of the rubber wheel 312 is higher than the upper end surface of the conveying belt 412 of the change-direction conveying platform 4, reaching the preset position, and returning to execute step S600 to determine whether the rubber wheel 312 is in the preset position.

[0180] Example 5

[0181] In this embodiment, based on the above embodiment, a control method of a tile delivery system 100 is provided. In step S800, when the target tile is transported from the first conveying platform 1 to the top of the lifting frame 32 and contacts the rubber wheel 312, the lifting cylinder 33 is controlled to act downward to make the lifting frame 32 descend in the lifting space 413 until the height of the upper cut surface of the rubber wheel 312 is lower than the upper end surface of the conveying belt 412 of the diverting conveying platform 4, and the bottom surface of the target tile contacts the upper end surface of the conveying belt 412 of the diverting conveying platform 4 through the rubber wheel 312, so that the speed of the target tile in the linear conveying direction is reduced to 0 m / s, and the conveying belt 412 of the diverting conveying platform 4 is used for non-linear conveying, including:

[0182] Step S810, obtaining the initial speed of the first conveying platform 1 conveying the target tile in a straight direction, and calculating the trigger position of the lifting frame 32 corresponding to the target tile to start the lowering action based on the initial speed.

[0183] The system needs to measure or calculate the initial speed of the tiles on the first conveying platform 1. The moving speed of the tiles can be monitored in real time through a speed sensor or encoder. The system obtains the initial speed data of the tiles on the first conveying platform 1, and can accurately control the conveying speed of the tiles, providing the necessary parameters for subsequent directional conveying.

[0184] As described above, the specific position where the lifting frame 32 needs to start lowering is calculated based on the initial speed of the tile. The trigger position can be calculated by combining the tile speed and the conveying distance through the control algorithm. The exact position where the lifting frame 32 starts to lower is determined to ensure that the tile can be smoothly transferred to the reversing conveying platform 4. This improves the accuracy and reliability of the tile transfer and reduces the error in the transfer process. Specifically, a preset segmented control function model can be implemented through programming to calculate the trigger position based on the speed and distance.

[0185] Step S820, obtain the current position of the target tile, and based on the trigger position, control the state of the lifting frame 32 through a preset segmented control function model, so that when the target tile contacts the upper end surface of the conveying belt 412 of the changing conveying platform 4, the initial speed of the target tile in the straight direction is reduced to 0m / s.

[0186] The system needs to monitor the current position of the tiles in the conveying process in real time. The position of the tiles can be tracked in real time through position sensors or encoders. The movement of the conveying and lifting frame 32 can be adjusted in real time to ensure that the tiles are accurately transferred to the reversing conveying platform 4.

[0187] According to the information that the tiles have reached the trigger position, the system adjusts the state of the lifting frame 32 through a preset control model. Specifically, the system can adjust the action of the lifting cylinder 33 according to the preset control logic to lower the lifting frame 32, so that the lifting frame 32 starts to lower when the tiles reach the predetermined position, and prepares for the reversing transportation of the tiles. Accurate timing control is achieved to ensure that the tiles are transferred to the reversing transportation platform 4 at the correct time and position. Specifically, the preset segmented control function model can be implemented through a PLC (programmable logic controller).

[0188] When the tile contacts the upper surface of the conveyor belt 412 of the reversing conveying platform 4, its speed is reduced to zero. The tile is stopped smoothly by precisely controlling the lowering action of the lifting frame 32 and the speed of the conveying platform. The tile is completely stopped before the reversing conveying, avoiding deviation, separation from the conveyor belt, falling, damage or delivery failure caused by speed mismatch. The safety and accuracy of the tile during the transfer process are ensured. Specifically, the precise stopping of the tile can be achieved by controlling the speed of the conveying platform and the lifting cylinder 33.

[0189] Thus, through the above steps, the tiles are transported in a non-linear direction on the direction-changing transport platform 4. The system controls the conveying belt 412 of the direction-changing transport platform 4 to start the transport operation in a non-linear direction.

[0190] Furthermore, in the step S810, the trigger position of the lifting frame 32 corresponding to the target tile for starting the lowering action is calculated based on the initial speed, including:

[0191] Step S811, calculate the total deceleration of the target tile; the calculation expression of the total deceleration [Formula 1] is: a=(μ1+μ2)×g; wherein a represents the total deceleration; μ1 represents the friction coefficient between the target tile and the rubber wheel 312; μ2 represents the friction coefficient between the target tile and the conveyor belt 412; g represents the acceleration of gravity.

[0192] As mentioned above, in this step, the total deceleration of the tile during the direction-changing conveying process needs to be calculated. The total deceleration is calculated using Formula 1, where μ1 is the friction coefficient between the tile and the rubber wheel 312, μ2 is the friction coefficient between the tile and the conveying belt 412, and g is the acceleration of gravity. Thus, the total deceleration a of the tile during the direction-changing conveying process is obtained.

[0193] Formula 1 can accurately calculate the parameters required for tile deceleration, providing a basis for subsequent deceleration distance calculation. The friction coefficient can be determined experimentally and calculated using the standard gravity acceleration value.

[0194] As mentioned above, the friction coefficient μ1 between the target tile and the rubber wheel 312 and the friction coefficient μ2 between the target tile and the conveyor belt 412 can be pre-measured constant values; g represents the acceleration of gravity, which can be approximately 9.8 m / s 2 .

[0195] Step S812, calculating the deceleration distance of the target tile according to the total deceleration; the calculation expression of the deceleration distance [Formula 2] is: Wherein, d represents the deceleration distance required for the target tile to be transported in a straight line so that the initial speed drops to 0; V hRepresents the initial velocity of the target tile.

[0196] As mentioned above, in this step, we need to calculate the deceleration distance required for the tile to drop from the initial speed to 0. Use formula 2 to calculate the deceleration distance, where V h The initial speed of the tile is the distance d required for the tile to decelerate to a stop, ensuring that the tile can be safely and smoothly decelerated to a stop before reaching the reversing conveying platform 4 to avoid impact and damage.

[0197] Step S813, based on the deceleration distance, calculate the trigger position of the lifting frame 32 to start the lowering action; the calculation expression of the trigger position [Formula 3] is: start =Dd; where x start represents the trigger position; D represents the total distance that the target tile reaches the conveying belt 412 of the changing conveying platform 4.

[0198] In this step, the system needs to determine the specific position where the lifting frame 32 starts to lower, so as to ensure that the tiles can be decelerated and transferred to the reversing conveying platform 4 smoothly. The trigger position is calculated using Formula 3, where D is the total distance that the tiles reach the reversing conveying platform 4. The trigger position x at which the lifting frame 32 starts to lower is obtained. start . Accurate timing control is achieved to ensure that the tiles are transferred to the reversing conveying platform 4 at the correct time and position.

[0199] Furthermore, in step S820, the expression of the preset segment control function model [Formula 4] is: Wherein, H(x) represents the height of the lifting frame 32 at position x; H lifted H represents the height of the lifting frame 32 when it is raised; lowered Represents the height of the lifting frame 32 after being lowered.

[0200] In this embodiment, a segmented control function model H(x) is defined to control the height of the lifting frame 32. The function adjusts the height of the lifting frame 32 according to the current position x of the tile. The segmented function H(x) includes three parts, which correspond to different tile position intervals.

[0201] The height of the lifting frame 32 is dynamically adjusted according to the position of the tile. The purpose of accurately controlling the height of the lifting frame 32 is achieved, ensuring that the tiles can be smoothly transferred to the reversing conveying platform 4. This piecewise function can be implemented by programming, using conditional statements to adjust the height of the lifting frame 32 according to different position intervals.

[0202] In step S820, the state of the lifting frame 32 is controlled by the preset segmented control function model, including: step S821, when the current position x of the target tile reaches x startWhen the lifting frame 32 starts to descend, the system monitors the position of the tile and when the tile reaches the trigger position x start When x is reached, the lifting frame 32 begins to be lowered. The system monitors the tile position through the position sensor and start When the tiles are in the correct position, the lifting frame 32 starts to descend. This ensures that the tiles are transferred to the reversing conveying platform 4 at the correct time, thereby improving the response speed and accuracy of the system. Specifically, position monitoring and lifting frame 32 control can be achieved through PLC (Programmable Logic Controller).

[0203] Step S822, control the target tile from x start During the process to D, the height of the lifting frame 32 is linearly lowered so that when x=d, the lifting frame 32 is completely lowered, and when the target tile contacts the upper end surface of the conveying belt 412, the speed in the linear conveying direction can be reduced to 0 m / s.

[0204] In the above steps, the tile is from x start In the process of moving to D, the system needs to linearly lower the height of the lifting frame 32. The system linearly adjusts the height of the lifting frame 32 according to the position of the tile and the preset segmented control function model.

[0205] The height of the lifting frame 32 is linearly reduced as the position of the tile moves. Linearly reducing the lifting frame 32 can ensure that the tile contacts the conveyor belt 412 smoothly, reducing the risk of impact and damage.

[0206] Linear adjustment of the height of the crane 32 may be achieved by a proportional-integral-derivative (PID) controller or other control algorithms.

[0207] When the tile reaches the deceleration distance d, the lifting frame 32 needs to be completely lowered, and the speed of the tile needs to be reduced to zero. The system controls the lifting cylinder 33 so that when the tile reaches d, the lifting frame 32 is completely lowered, and the speed of the tile is reduced to zero through friction. At this time, the tile is smoothly transferred to the reversing conveying platform 4, and the speed is zero, avoiding the impact on the conveying belt 412. Through the method provided in this step, the safety of tile transfer and the stability of the system are improved, and the maintenance cost is reduced.

[0208] Example 6

[0209] In order to better illustrate the control method of the tile delivery system 100 provided in the present application, the following description is provided with respect to the method flow and calculation.

[0210] 1. In this embodiment, the basic parameters required are: (1) V h: The initial speed of the target tile on the first conveying platform 1 (unit: meter / second, m / s). (2) μ1: The friction coefficient between the target tile and the rubber wheel 312. (3) μ2: The friction coefficient between the target tile and the conveying belt 412 of the reversing conveying platform 4. (4) g: The acceleration due to gravity (about 9.81 m / s 2 ). (5) a: total deceleration, generated by the combined action of the above-mentioned dual friction forces. (6) d: the deceleration distance required for the target tile to reduce the initial speed of the target tile in the straight conveying direction to zero. (7) D: the total distance the target tile reaches the conveyor belt 412 of the reversing conveying platform 4. (8) x: the distance between the current position of the target tile and the starting point, which is equivalent to the positioning of the current position.

[0211] 2. Specific workflow: (1) Real-time monitoring: Real-time monitoring of the position of the target tile: The position sensor can be used to detect the current position x and initial velocity V in real time. h ; (2) Calculate the deceleration parameters: use formula 1 to calculate the total deceleration a; and use formula 2 to calculate the deceleration distance d; (3) Determine the control trigger point: calculate the trigger position x of the control action start =Dd. During the movement of the tile, when its position reaches Dd, the control action is started (i.e., the lifting frame 32 is lowered) to ensure that the horizontal speed of the target tile is just reduced to zero when it reaches and contacts the conveying belt 412 of the reversing conveying platform 4. (4) Implementing the control of the lifting frame 32: When the current position x of the target tile reaches x start When the target tile moves from x start When reaching D, the height of the lifting frame 32 is linearly lowered to ensure that the lifting frame 32 is completely lowered when x=D. (5) Ensure smooth transition: Through the above control function model, ensure that the original initial speed V of the tile when it contacts the conveying belt 412 of the reversing conveying platform 4 h It just drops to zero, completing smooth directional conveying (such as conveying in a right-angle direction).

[0212] 3. Model verification: In order to verify the accuracy of the model and ensure that the horizontal speed can be reduced to 0 when x=D, the following derivation verification is performed: (1) Deceleration time t: (2) Displacement verification during deceleration: When the target tile starts to decelerate from xstart = Dd and reaches x = D: V h (D)=

[0213] V h -a×t=0; The above derivation verifies the correctness of the model, that is, within the distance d, the horizontal velocity of the target tile can be changed from V h Dropped to zero.

[0214] 4. Summary: The above function model achieves smooth directional change of the target tile through the following steps: (1) Calculate the total deceleration and deceleration distance: Based on the friction coefficient and gravity acceleration, calculate the total deceleration a of the tile and the required deceleration distance d. (2) Determine the control trigger point: At the distance d before the target tile reaches the conveyor belt 412, start the lowering action of the lifting frame 32. (3) Control the height of the lifting frame 32: Use a piecewise function model to linearly lower the height of the lifting frame 32 to ensure that the initial speed drops to zero when the target tile reaches the conveyor belt 412. (4) Achieve a smooth transition: By precisely controlling the height change of the lifting frame 32, the initial speed of the target tile in the straight-line conveying direction can be smoothly decelerated to avoid deviation, falling, and detachment from the belt, thereby ensuring the stability of the directional change of the tile.

[0215] 5. Control devices and sensors involved in this model: In order to implement the control method of the above function model, the following devices and sensors can be configured: (1) Position sensor monitors the position of the tile on the conveying platform. (2) Speed ​​sensor: measures the real-time speed of the tile. (3) Height sensor: monitors the current position of the lifting frame 32. (4) Controller (PLC or embedded system): processes sensor data, executes control algorithms, and drives the lifting frame 32. (5) Actuator: a mechanical device that drives the lifting frame 32 to rise and fall (such as a servo motor, pneumatic cylinder). (6) Communication interface: data transmission between the sensor and the controller. In addition, redundant sensors can be added to improve the reliability and fault tolerance of the system.

[0216] The present application also provides a computer device. Exemplarily, the computer device includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program to enable the computer device to execute the control method of the above-mentioned tile delivery system 100 or the functions of each module in the above-mentioned tile delivery system 100.

[0217] Among them, the processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU) and a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or at least one of other programmable logic devices, discrete gates or transistor logic devices, and discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present application.

[0218] The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store a computer program, and the processor may execute the computer program accordingly after receiving an execution instruction.

[0219] The present application also provides a computer storage medium for storing the computer program used in the above-mentioned computer device. The computer storage medium may be a readable storage medium, or a non-volatile storage medium or a volatile storage medium. For example, the computer storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0220] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow diagram, and the combination of boxes in the structure diagram and / or the flow diagram, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0221] In addition, each functional module or unit in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0222] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A tile delivery system, characterized in that: include: A first conveying platform and a second conveying platform arranged in a conveying direction, and a lifting device and a direction-changing conveying platform arranged between the first conveying platform and the second conveying platform; wherein the conveying direction of the direction-changing conveying platform is different from that of the first conveying platform and the second conveying platform; The lifting device can control the target tiles delivered by the first conveying platform to be transported to the surface of the second conveying platform for linear transportation by adjusting the height, or control the target tiles delivered by the first conveying platform to be transported to the changing conveying platform for non-linear transportation.

2. The tile delivery system according to claim 1, characterized in that: The vertical height of the conveying surface of the second conveying platform is higher than the vertical height of the conveying surface of the first conveying platform; The vertical height of the conveying surface of the redirecting conveying platform is not higher than the vertical height of the conveying surface of the first conveying platform.

3. The tile delivery system according to claim 2, characterized in that: The lifting device comprises a roller mechanism, a lifting frame and a lifting cylinder arranged in sequence from top to bottom; The roller mechanism comprises a roller shaft arranged on the lifting frame and a rubber wheel arranged on the roller shaft; The lifting cylinder is connected to the lifting frame and can control the lifting frame to drive the roller mechanism at the upper end to rise or fall.

4. The tile delivery system according to claim 3, characterized in that: A fixed table is provided under the direction-changing conveying platform; The lifting device also includes a swing shaft; The lifting frame is movably connected to the swing shaft, and is hinged to the fixed table under the direction-changing conveying platform through the swing shaft.

5. The tile delivery system according to claim 4, characterized in that: The direction-changing conveying platform includes at least one set of conveying components; the conveying components include two rotating wheels and a conveying belt, and a lifting space is formed by the two rotating wheels and the conveying belts on the upper and lower sides; The lifting frame is arranged in the lifting space, and can move between the two conveying belts in the lifting space under the action of the lifting cylinder.

6. The tile delivery system according to claim 4, characterized in that: The lifting frame is provided with a plurality of groups of the roller mechanisms; The roller mechanism is arranged at a corresponding position of the lifting frame different from the conveying belt, so that the rubber wheel in the roller mechanism can contact the bottom surface of the target tile through the space at both ends of the conveying belt when moving upward.

7. The tile delivery system according to claim 5, characterized in that: The roller mechanism also includes a support member; One end of the support member is connected to the roller shaft, and the other end is connected to the upper surface of the lifting frame.

8. The tile delivery system according to claim 7, characterized in that: Based on the height of the support member, when the lifting frame is lifted in the lifting space toward the upper end of the conveying belt by the lifting cylinder, the height of the upper cut surface of the rubber wheel can be higher than the upper end surface of the conveying belt, and the bottom surface of the target tile delivered by the first conveying platform can contact the rubber wheel and be conveyed to the second conveying platform by inertia; Furthermore, when the lifting frame falls toward the conveyor belt at the lower end in the lifting space under the action of the lifting cylinder, the height of the upper cut surface of the rubber wheel can be lower than the upper end surface of the conveyor belt, and the bottom surface of the target tile delivered by the first conveying platform can contact the upper surface of the conveyor belt of the changing conveying platform and be transported by the conveyor belt of the changing conveying platform.

9. A control method for a tile delivery system according to any one of claims 1 to 8, characterized in that: include: Acquire a delivery instruction corresponding to the target tile on the first conveying platform; the delivery instruction includes a change-of-direction delivery instruction and a non-change-of-direction instruction; Determining whether the delivery instruction is a redirected delivery instruction; If not, it is determined whether the rubber wheel is at a preset position; wherein the preset position is that the height of the upper section of the rubber wheel is higher than the upper end surface of the conveyor belt of the direction-changing conveying platform; If the rubber wheel is at the preset position, it is determined that the lifting device has reached the conveying state; If the rubber wheel position is not at the preset position, it is determined that the lifting device has not reached the conveying state, and the lifting cylinder in the lifting device is controlled to act upward to make the lifting frame rise in the lifting space toward the upper end of the conveying belt, so that the height of the upper cut surface of the rubber wheel is higher than the upper end surface of the conveying belt of the change-direction conveying platform, reaching the preset position.

10. The control method of the tile delivery system according to claim 9, characterized in that: After determining whether the delivery instruction is a redirected delivery instruction, the method further includes: If yes, determining whether the rubber wheel position is at the preset position; If the rubber wheel is at the preset position, it is determined that the lifting device has reached the conveying state; When the target tile is transported from the first conveying platform to the top of the lifting frame and contacts the rubber wheel, the lifting cylinder is controlled to act downward to make the lifting frame descend in the lifting space until the height of the upper cut surface of the rubber wheel is lower than the upper end surface of the conveying belt of the diverting conveying platform, and the bottom surface of the target tile contacts the upper end surface of the conveying belt of the diverting conveying platform through the rubber wheel, so that the speed of the target tile in the linear conveying direction is reduced to 0 m / s, and the target tile is transported in a non-linear direction through the conveying belt of the diverting conveying platform; If the rubber wheel position is not at the preset position, it is determined that the lifting device has not reached the conveying state, and the lifting cylinder in the lifting device is controlled to act upward to make the lifting frame rise in the lifting space toward the upper end of the conveying belt, so that the height of the upper cut surface of the rubber wheel is higher than the upper end surface of the conveying belt of the change-direction conveying platform, reaching the preset position, and returning to execute the judgment of whether the rubber wheel position is at the preset position.

11. The control method of the tile delivery system according to claim 10, characterized in that: When the target tile is transported from the first conveying platform to the top of the lifting frame and contacts the rubber wheel, the lifting cylinder is controlled to act downward to make the lifting frame descend in the lifting space until the height of the upper cut surface of the rubber wheel is lower than the upper end surface of the conveying belt of the diverting conveying platform, and the bottom surface of the target tile contacts the upper end surface of the conveying belt of the diverting conveying platform through the rubber wheel, so that the speed of the target tile in the linear conveying direction is reduced to 0 m / s, and the target tile is transported in a non-linear direction through the conveying belt of the diverting conveying platform, including: Acquire an initial speed of the first conveying platform conveying the target tile in a straight direction, and calculate a trigger position corresponding to the target tile for the lifting frame to start a lowering action based on the initial speed; The current position of the target tile is obtained, and based on the trigger position, the state of the lifting frame is controlled by a preset segmented control function model, so that when the target tile contacts the upper end surface of the conveying belt of the changing conveying platform, the initial speed of the target tile in the straight direction is reduced to 0m / s.

12. The control method of the tile delivery system according to claim 11, characterized in that: The step of calculating the trigger position of the lifting frame corresponding to the target tile and starting the lowering action based on the initial speed includes: Calculate the total deceleration of the target tile; the calculation expression of the total deceleration is: a=(μ1+μ2)×g; wherein a represents the total deceleration; μ1 represents the friction coefficient between the target tile and the rubber wheel; μ2 represents the friction coefficient between the target tile and the conveyor belt; g represents the acceleration of gravity; The deceleration distance of the target tile is calculated according to the total deceleration; the calculation expression of the deceleration distance is: Wherein, d represents the deceleration distance required for the initial speed of the target tile to drop to 0 in the straight line direction; V h represents the initial velocity of the target tile; Based on the deceleration distance, the trigger position for the lifting frame to start the lowering action is calculated; the calculation expression of the trigger position is: start =Dd; where x start represents the trigger position; D represents the total distance of the conveyor belt from the target tile to the changing conveyor platform.

13. The control method of the tile delivery system according to claim 12, characterized in that: The expression of the preset segment control function model is: Wherein, H(x) represents the height of the lifting frame at position x; H lifted Represents the height of the lifting frame when it is raised; H lowered represents the height of the lifting frame after lowering; The controlling the state of the lifting frame by using a preset segmented control function model comprises: When the current position x of the target tile reaches x start When the lifting frame starts to descend, Controls the target tile from x start In the process of reaching D, the height of the lifting frame is linearly lowered so that when x=d, the lifting frame is completely lowered, and when the target tile contacts the upper end surface of the conveyor belt, the speed in the linear conveying direction can be reduced to 0m / s.

14. A computer device, characterized in that: The computer device comprises a processor and a memory, wherein the memory stores a computer program, and the processor is used to execute the computer program to implement the control method of the tile delivery system according to any one of claims 9-13.

15. A computer storage medium, characterized in that: It stores a computer program, which, when executed on a processor, implements the control method of the tile delivery system according to any one of claims 9-13.

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