A box cargo fan-type racking system

Abstract

The application relates to a box cargo fan-shaped upper shelf system, which comprises a device module and a general control module for controlling the device module, the general control module comprises a control module, a fan-shaped upper shelf analysis module, a depth marking module and a threshold control module, the device module comprises a mechanical arm module, a stacking module and a shelf module, the shelf module comprises a plurality of shelves, and different shelves are divided into a shelf A and a shelf B based on shelf positions, and the division of the shelves can be selected based on information of the box body and divided into multiple kinds; the application has the advantages of improving the warehouse-out efficiency and self-lubrication of the stacking machine.

Description

A box-type cargo fan-shaped shelving system Technical Field

[0001] This invention belongs to the field of automated warehouse technology, specifically relating to a box-type cargo fan-shaped shelving system. Background Technology

[0002] The development of modern logistics is a prerequisite for the emergence and development of automated warehouses, and it is in line with industrial and technological development. Modern large-scale production is increasingly promoting the socialization, specialization, and centralization of industrial production. The high degree of mechanization and automation in production inevitably requires timely, rapid, and accurate supply and distribution of materials. This has spurred the rapid development of automated warehouse technology, which has become a symbol of high technology in factory design.

[0003] With the development of the times, more and more products are emerging, and the number of products stored in automated warehouses is also increasing. However, as the number of products in automated warehouses increases, the division of product storage locations is becoming more and more important. In the existing technology, after the products are shelved, the boxes with the same outbound date and route are scattered and arranged, resulting in excessively long outbound time, which affects outbound efficiency. In addition, the stacker cranes in automated warehouses are prone to failure after long-term use due to lack of lubrication. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a box-type cargo fan-shaped shelving system that improves outbound efficiency and provides self-lubrication for stacker cranes.

[0005] The technical solution of the present invention is as follows:

[0006] A box-type cargo fan-shaped shelving system includes an equipment module for controlling a central control module. The central control module includes a control module, a fan-shaped shelving analysis module, a depth marking module, and a threshold control module. The equipment module includes a robotic arm module, a stacking module, and a shelf module.

[0007] The shelving module includes multiple shelving units, and the different shelving units are divided into shelving unit A and shelving unit B based on the location of the shelving units. The shelving units can be divided into multiple types based on the information of the cabinet.

[0008] The control module uses control equipment to achieve overall control of the equipment module;

[0009] The fan-shaped shelving analysis module uses scanning equipment to acquire box information and confirms whether the box needs to be shipped out the next day based on the box's outbound information. When the box needs to be shipped out the next day and the adjacent storage locations of adjacent shelf A cannot be combined, the box is shelved in a fan shape from the storage location with a box at the bottom layer as the center to the storage location in shelf A without a box. When the box needs to be shipped out the next day and the adjacent storage locations of adjacent shelf A can be combined, the entire row of available storage locations is queried and the storage locations are retrieved in ascending order by column. When the box does not need to be shipped out the next day and there is no outbound order, the available storage locations of shelf B are queried in descending order by column.

[0010] The depth marking module uses symbols to mark the status of the storage location;

[0011] The threshold control module sets a maximum depth threshold based on the size of shelf A and shelf B. When the threshold is reached, the fan-shaped shelving analysis module stops searching and returns the current storage location.

[0012] The robotic arm module uses a robotic arm to grip the box.

[0013] The stacking module uses a stacker crane to transport the containers and stack them to the corresponding storage locations.

[0014] Furthermore, when the fan-shaped shelving analysis module needs to retrieve the goods on the second day and finds the storage location with boxes on the bottom layer, it determines whether the boxes can be placed based on the size of the storage location, the area of ​​the storage location already occupied, the area of ​​the storage location corresponding to the adjacent shelf A, and the size of the boxes to be placed. If the boxes cannot be placed, it searches for storage locations in a fan shape with the storage location with boxes on the bottom layer as the center.

[0015] Furthermore, the sector analysis module employs a depth-first search algorithm, starting from a given storage location and recursively searching upwards, leftwards, and rightwards until a usable storage location is found or the maximum depth is reached.

[0016] Furthermore, the stacker crane includes a stacker crane body, a lifting plate that can be raised and lowered on the stacker crane body, two lower sliding plates on the lifting plate, a sliding plate slidably connected to the lower sliding plate, an upper sliding plate slidably connected to the sliding plate, a threaded shaft rotatably connected to the lower and upper sliding plates, and a drive motor fixed on the lower and upper sliding plates. The drive motor is connected to the threaded shaft, and the sliding plate is threadedly connected to the threaded shaft. The sliding plate is provided with at least two lubrication components to achieve self-lubrication of the two threaded shafts. A cleaning component for removing deteriorated grease from the threaded shaft is provided on one side of the lubrication component. The lifting plate is provided with a grease tank, a water tank, and a cleaning agent tank that are connected to the lubrication component and the cleaning component. The cleaning component, the grease tank, and the water tank are respectively connected to an air pump located on the lifting plate, and the cleaning agent tank is connected to a water pump located on the lifting plate.

[0017] Furthermore, the sliding plate has sliding cavities on its upper and lower sides, and each sliding cavity is provided with a threaded block. The threaded shaft is threadedly connected to the threaded block. The sliding plate has four chambers, which are respectively connected to a lubrication assembly, a cleaning assembly, an air pump, a grease tank, a water tank, and a detergent tank. The drive motor can pass through the sliding cavity.

[0018] The sliding plate is slidably connected to a slide rail on the lifting plate, and the two sliding plates are connected by an adjusting rod to adjust the distance between the two sliding plates.

[0019] Furthermore, the cleaning assembly includes two arc-shaped fixed plates located within the sliding cavity, two arc-shaped plates located between the two arc-shaped fixed plates, a piston rod connected to the arc-shaped plates, and a connecting assembly. The two arc-shaped plates and the two arc-shaped fixed plates are concentric and mirror-image arranged vertically. The arc-shaped fixed plates have liquid chambers with channels. The arc-shaped fixed plates have adjustment chambers for the piston rod to insert into. The adjustment chambers and the chamber connected to the air pump are connected to the channels.

[0020] Two arc-shaped plates abut each other at both ends and have V-shaped grooves on their opposite sides. A nozzle connected to a connecting component is installed in the V-shaped groove of the upper arc-shaped plate. The other end of the connecting component extends into the liquid chamber. The two liquid chambers are independently connected to a water storage tank and a detergent tank through the chambers respectively.

[0021] Furthermore, scraping plates that contact the threaded shaft are provided on both sides of the V-groove at both ends of the upper arc plate, and there is a gap between the two scraping plates at the same end of the V-groove. The arc plate is provided with guide posts inserted into the arc-shaped fixing plate, and the upper arc plate is provided with an insertion groove. The lubrication component is provided with a limiting protrusion inserted into the insertion groove so that the lubrication component cannot discharge grease, and when the distance between the two arc plates is at its maximum, the limiting protrusion is not located in the insertion groove.

[0022] Furthermore, the communication component includes a water injection cylinder sealed and inserted into the arc-shaped fixing plate, a connector cylinder inserted into the water injection cylinder, a fixing ring fixed to one end of the water injection cylinder located in the liquid cavity, and a displacement plate fixed to one end of the connector cylinder located in the liquid cavity. The other end of the water injection cylinder is fixed to the arc plate and communicates with the nozzle.

[0023] The insert sleeve is fitted with pull-down springs at both ends that are fixed to the displacement disk and the fixing ring. The insert sleeve has multiple holes at one end located in the liquid chamber. The displacement disk is provided with a guide rod that passes through the fixing ring at one end. When the scraper plate is in threaded contact with the threaded shaft, the fixing ring is in contact with the liquid chamber and the guide rod pushes the displacement disk upward, so that the end of the insert sleeve with holes extends out of the water injection cylinder. When the guide rod is not in contact with the liquid chamber, the fixing ring is in contact with the displacement disk and seals.

[0024] Furthermore, the lubrication assembly includes a fixed plate fixed in the sliding cavity, a threaded cylinder with a threaded hole, a return spring disposed on the threaded cylinder, and a lubrication cavity disposed on the threaded cylinder. The fixed plate has a through hole, the threaded cylinder is rotatably connected in the through hole, the threaded shaft is threadedly connected in the threaded cylinder, the threaded cylinder has multiple holes communicating with the threaded hole and the lubrication cavity, the outer circumferential surface of the threaded cylinder has a grease inlet hole, the fixed plate has a connection hole communicating with the grease tank, the threaded cylinder is provided with an angle limiting component to limit the maximum rotation angle of the threaded cylinder. When the threaded cylinder rotates clockwise to the point where it cannot rotate, the grease inlet hole and the connection hole are sealed and connected. The outer circumferential surface of the threaded cylinder has a strip hole, the strip hole is not connected with the lubrication cavity, one end of the return spring extends out from the strip hole and is connected to the fixed plate, and the limiting protrusion is located on the threaded cylinder.

[0025] Furthermore, a sealing ring is provided in the through hole of the fixing plate to seal against the threaded cylinder. The sealing ring has a hole corresponding to the position of the connecting hole. The limiting component includes a sliding protrusion fixed on the threaded cylinder. An arc-shaped slide is provided in the through hole of the fixing plate for the sliding protrusion to slide.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. This invention realizes the fan-shaped shelving of boxes through the fan-shaped shelving analysis module, which facilitates subsequent outbound delivery; it realizes the marking of storage location status through the depth marking module, which facilitates the screening of storage locations; and it realizes the stacking of boxes through the stacking module, which facilitates the shelving of boxes.

[0028] 2. This invention uses a lubrication component to lubricate the threaded shaft, preventing wear after prolonged use. It also uses a cleaning component to remove deteriorated grease from the threaded shaft, facilitating cleaning and ensuring lubrication.

[0029] In summary, this invention has the advantages of improving outbound efficiency and providing self-lubrication for stacker cranes. Attached Figure Description

[0030] Figure 1 is a schematic diagram of the system of the present invention;

[0031] Figure 2 is a structural schematic diagram of the stacking module of Figure 1 of the present invention;

[0032] Figure 3 is a schematic diagram of the upper sliding plate, sliding plate and lower sliding plate of the present invention as shown in Figure 2;

[0033] Figure 4 is a schematic cross-sectional view of AA in Figure 3 of the present invention;

[0034] Figure 5 is an enlarged structural schematic diagram of part A in Figure 4 of the present invention;

[0035] Figure 6 is a schematic diagram of the cleaning assembly shown in Figure 5 of the present invention;

[0036] Figure 7 is an enlarged structural schematic diagram of part B of Figure 5 of the present invention;

[0037] Figure 8 is an enlarged structural schematic diagram of part C in Figure 5 of the present invention;

[0038] Figure 9 is a schematic diagram of the lubrication assembly shown in Figure 4 of the present invention;

[0039] Figure 10 is a top view of the lifting plate structure of Figure 2 of the present invention.

[0040] In the diagram, 1. Displacement plate, 2. Grease tank, 3. Air pump, 4. Sliding plate, 41. Chamber, 42. Cleaning assembly, 421. Liquid chamber, 422. Adjustment chamber, 423. Piston rod, 424. Nozzle, 425. V-groove, 426. Arc plate, 427. Guide column, 428. Channel, 429. Arc-shaped fixing plate, 420. Insertion groove, 4201. Pull-down spring, 4202. Guide rod, 4203. Water injection cylinder, 4204. Insertion cylinder, 4205. Fixing ring, 4206. Displacement disc, 4207. Scraper, 43. Lubrication assembly, 431. 432. Lubrication chamber, 433. Threaded cylinder, 434. Return spring, 435. Fixing plate, 436. Limiting protrusion, 437. Sealing ring, 438. Grease inlet, 439. Arc-shaped slide rail, 430. Sliding protrusion, 5. Upper slide plate, 6. Lifting frame, 7. Sliding block, 8. Transmission gear, 9. Lower slide plate, 10. Slide rail plate, 11. Adjusting rod, 12. Lifting plate, 13. Base plate, 14. Electric slide rail, 15. Threaded shaft, 16. Threaded block, 17. Sliding chamber, 18. Water tank, 19. Detergent tank, 20. Water pump, 21. Drive motor, 22. Upward motor. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] As shown in Figures 1-10, a box-type cargo fan-shaped shelving system includes a device module for controlling the device module and a central control module. The central control module includes a control module, a fan-shaped shelving analysis module, a depth marking module, and a threshold control module. The device module includes a robotic arm module, a stacking module, and a shelf module.

[0043] The shelving module includes multiple shelving units, and the different shelving units are divided into shelving unit A and shelving unit B based on the location of the shelving units. The shelving units can be divided into multiple types based on the information of the cabinet.

[0044] The control module uses control equipment to achieve overall control of the equipment module;

[0045] The fan-shaped shelving analysis module uses scanning equipment to acquire box information and confirms whether the box needs to be shipped out the next day based on the box's outbound information. When the box needs to be shipped out the next day and the adjacent storage locations of adjacent shelf A cannot be combined, the box is shelved in a fan shape from the storage location with a box at the bottom layer as the center to the storage location in shelf A without a box. When the box needs to be shipped out the next day and the adjacent storage locations of adjacent shelf A can be combined, the entire row of available storage locations is queried and the storage locations are retrieved in ascending order by column. When the box does not need to be shipped out the next day and there is no outbound order, the available storage locations of shelf B are queried in descending order by column.

[0046] The depth marking module uses symbols to mark the status of the storage location;

[0047] The threshold control module sets a maximum depth threshold based on the size of shelf A and shelf B. When the threshold is reached, the fan-shaped shelving analysis module stops searching and returns the current storage location.

[0048] The robotic arm module uses a robotic arm to grip the box.

[0049] The stacking module uses a stacker crane to transport the containers and stack them to the corresponding storage locations.

[0050] When the fan-shaped shelving analysis module needs to take out the goods on the second day and finds the storage location with boxes on the bottom layer, it determines whether the boxes can be placed based on the size of the storage location, the area of ​​the storage location already occupied, the area of ​​the storage location corresponding to the adjacent shelf A, and the size of the boxes to be placed. If the boxes cannot be placed, it searches for storage locations that can be placed in a fan shape with the storage location with boxes on the bottom layer as the center.

[0051] The sector analysis module uses a depth-first search algorithm to start from a given storage location and recursively search upwards, leftwards, and rightwards until a usable storage location is found or the maximum depth is reached.

[0052] In use, the sector-shaped shelving analysis module acquires box information and then determines whether the box is located on shelf A or shelf B based on whether it has an outbound slip and the outbound time. If it has an outbound slip and needs to be outbound the next morning, the box is identified as a box on shelf A, and it checks whether shelf A has two storage locations and whether the two shelves A are adjacent. When two adjacent shelves A are adjacent, the storage locations of the two adjacent shelves A are designated as No. 1, No. 2, No. 3, and No. 4, respectively, where No. 2 is the deeper location of No. 3 and No. 4. Number 3 is the depth of numbers 2 and 3. Then, find the storage location with boxes at the bottom layer, and check whether the number of storage locations occupied by boxes with the same box to be shelved is less than 2 or 4, and determine whether the depth of the storage location can be combined. If all are negative, then use the box as the origin and search left, right and up for boxes in a fan-shaped shelving manner until a usable storage location is found. Then, shelving is carried out through the robot arm module and the stacking module. If all are positive, then the deep locations are arranged and combined, and shelving is carried out through the robot arm module and the stacking module.

[0053] If there is no outbound slip and no outbound shipment is required the following morning, the corresponding box will be selected and stacked on shelf B. After selection, a second check is performed to see if there is an outbound slip. If there is, the stacking is carried out according to the above process. If not, available storage locations are searched in descending order and the boxes are put on the shelf through the robotic arm module and the stacking module.

[0054] In this embodiment, the stacker crane includes a stacker crane body, a lifting plate 12 that can be raised and lowered on the stacker crane body, two lower sliding plates 9 fixed on the lifting plate 12, a sliding plate 4 slidably connected to the lower sliding plates 9, an upper sliding plate 5 slidably connected to the sliding plates 4, a threaded shaft 15 rotatably connected to the lower sliding plates 9 and the upper sliding plates 5, and a drive motor 21 fixed on the lower sliding plates 9 and the upper sliding plates 5. The drive motor 21 is connected to the threaded shaft 15. The stacker crane body includes a base plate 13, a lifting frame 6 fixed on the base plate 13, and an upward moving motor 22 fixed on the lifting frame 6. An electric slide rail 14 is slidably connected to the bottom of the base plate 13 to realize the movement and adjustment of the base plate 13. The lifting frame 6 is rotatably connected internally. The device has a threaded column connected to an upward motor 22. The threaded column is threadedly connected to a sliding block 7, which is fixed on a lifting plate 12. The sliding plate 4 is threadedly connected to a threaded shaft 15. The sliding plate 4 is provided with at least two lubrication components 43 to achieve self-lubrication of the two threaded shafts 15. A cleaning component 42 for removing deteriorated grease from the threaded shafts 15 is provided on one side of the lubrication component 43. The lifting plate 12 is fixed with a grease tank 2, a water tank 18, and a cleaning agent tank 19 that are connected to the lubrication component 43 and the cleaning component 42. The cleaning component 42, the grease tank 2, and the water tank 18 are respectively connected to an air pump 3 located on the lifting plate 12. The cleaning agent tank 19 is connected to a water pump 20 located on the lifting plate 12.

[0055] In use, the lifting plate 12 is adjusted by the cooperation of the threaded column, the upward motor 21 and the sliding block 7. The sliding plate 4 and the upper slide plate 5 are adjusted by the cooperation of the drive motor 21 and the threaded shaft 15. After the threaded shaft 15 has been used for a long time, the water pump 20 and the air pump 3 work. The water pump 20 delivers the cleaning agent in the cleaning agent tank 19 to the cleaning component to clean the threaded shaft 15. The air pump 3 extracts the air in the water storage tank 18. The water storage tank 18 extracts the cleaning agent after the cleaning component has cleaned the threaded shaft 15. The cleaning is then completed.

[0056] When the friction between the threaded shaft 15 and the lubrication component 43 increases, causing the lubrication component 43 to open, the grease in the grease tank 2 is applied to the threaded shaft 15 through the lubrication component 43, thereby achieving lubrication of the threaded shaft 15. When the threaded shaft 15 is lubricated, the friction between the lubrication component 43 and the threaded shaft 15 decreases, and at this time the lubrication component 43 is closed.

[0057] Preferably, a displacement plate 1 is fixed on the upper slide plate 5, and the displacement plate 1 achieves contact with the box body, thereby ensuring its use.

[0058] In this embodiment, the upper and lower sides of the sliding plate 4 are respectively provided with sliding cavities 17, and a threaded block 16 is fixed in the sliding cavity 17. The threaded block 16 is threadedly connected to the threaded shaft 15. The sliding plate 4 is provided with four chambers 41, which are respectively connected to the lubrication component 43, the cleaning component 42, the air pump 3, the grease tank 2, the water tank 18 and the cleaning agent tank 19. The drive motor 21 can pass through the sliding cavity 17.

[0059] The sliding plate 9 is slidably connected to the slide rail 10 located on the lifting plate 12. The two sliding plates 9 are connected by an adjusting rod 11 to adjust the distance between the two sliding plates 9. The adjusting rod 11 can be a cylinder or an electric telescopic rod or other components that can extend and retract.

[0060] In use, the sliding plate 4 and the upper slide plate 5 are slidable by the cooperation of the threaded shaft 15 and the threaded block 16. The injection of grease and cleaning agent and the extraction of cleaning agent are realized through the four chambers 41, thereby ensuring use. The distance between the two displacement plates 1 is controlled by the adjusting rod 11, so as to facilitate adaptive adjustment according to the size of the box.

[0061] In this embodiment, the cleaning assembly 42 includes two arc-shaped fixing plates 429 fixed in the sliding cavity 17, two arc-shaped plates 426 located between the two arc-shaped fixing plates 429, a piston rod 423 connected to the arc-shaped plates 426, and a communication assembly. The two arc-shaped plates 426 and the two arc-shaped fixing plates 429 are concentric and mirror images of each other. The arc-shaped fixing plates 429 have a liquid cavity 421, and a channel 428 is sealed and fixed inside the liquid cavity 421. The arc-shaped fixing plates 429 have an adjustment cavity 422 for the piston rod 423 to be inserted into. The adjustment cavity 422 and the chamber 41 connected to the air pump 3 are both connected to the channel 428.

[0062] Two arc-shaped plates 426 have their ends touching and V-shaped grooves 425 opened on opposite sides. A nozzle 424 connected to the connecting component is fixed in the V-shaped groove 425 of the upper arc-shaped plate 426. The other end of the connecting component extends into the liquid chamber 421. The two liquid chambers 421 are independently connected to the water storage tank 18 and the cleaning agent tank 19 through the chamber 41.

[0063] When cleaning is required, the air pump 3 drives the piston rod 423 to move through the chamber 41, channel 428 and adjusting chamber 422. The piston rod 423 drives the two arc plates 426 to move, so that the two arc plates 426 abut against each other. At this time, the connecting component is opened and the arc plates 426 contact the threaded shaft 15. Then, the cleaning agent enters the nozzle 424 through the water pump 20, chamber 41, liquid chamber 421 and connecting component. At this time, the nozzle 424 sprays out the cleaning agent to clean the threaded shaft 15. The cleaned cleaning agent is received by the arc plate 426 below and sucked into the water tank 18, which facilitates the cleaning of the threaded shaft 15. When cleaning is completed, the air pump 3 controls the piston rod 423 to reset. At this time, the connecting component is closed, the nozzle 424 stops spraying water and the arc plates 426 no longer contact the threaded shaft 15.

[0064] In this embodiment, scraping plates 4207 that are in threaded contact with the threaded shaft 15 are fixed on both sides of the V-groove 425 at both ends of the upper arc plate 426, and there is a gap between the two scraping plates 4207 at the same end of the V-groove 425. The arc plate 426 is fixed with a guide post 427, and the arc fixing plate 429 is provided with a hole for the guide post 427 to be inserted. The upper arc plate 426 is provided with an insertion groove 420. The lubrication component 43 is provided with a limiting protrusion 435 that is inserted into the insertion groove 420 so that the lubrication component 43 cannot discharge grease. When the distance between the two arc plates 426 is the largest, the limiting protrusion 435 is not located in the insertion groove 420.

[0065] During the cleaning process, as the threaded shaft 15 rotates, it gradually moves. During this movement, the deteriorated grease on the threaded shaft 15 comes into contact with the scraper plate 4207. The scraper plate 4207 scrapes off the deteriorated grease on the threaded shaft 15 and rinses it with a cleaning agent to ensure cleanliness. Once the cleaning is complete, as the arc plate 426 returns to its original position, the scraper plate 4207 no longer comes into contact with the threaded shaft 15.

[0066] When the threads on the scraper 4207 cannot match the threads on the threaded shaft 15, the scraper 4207 will contact the threaded shaft 15 due to the pneumatic control method used. During the movement of the threaded shaft 15, the threads on the scraper 4207 will match the threads on the threaded shaft 15.

[0067] When the arc plate 426 contacts the threaded shaft 15, the limiting protrusion 435 is inserted into the insertion groove 420. At this time, the lubrication component 43 cannot be opened, thus preventing the lubrication component 43 from opening for lubrication during the cleaning process.

[0068] In this embodiment, the connecting component includes a water injection cylinder 4203, a plug-in cylinder 4204 inserted into the water injection cylinder 4203, a fixing ring 4205 fixed to one end of the water injection cylinder 4203 located in the liquid chamber 421, and a displacement disk 4206 fixed to one end of the plug-in cylinder 4204 located in the liquid chamber 421. The other end of the water injection cylinder 4203 is fixed to the arc plate 426 and communicates with the nozzle 424. The arc fixing plate 429 has a hole communicating with the liquid chamber 421. A sealing material is provided in the hole, and the water injection cylinder 4203 is sealed and inserted into the hole.

[0069] The plug-in sleeve 4204 is fitted with a pull-down spring 4201 fixed at both ends to the displacement disk 4206 and the fixing ring 4205. Both the displacement disk 4206 and the fixing ring 4205 are provided with circular grooves to prevent the pull-down spring 4201 from being pulled down. The plug-in sleeve 4204 is provided with multiple holes at one end of the liquid cavity 421. The displacement disk 4206 is fixed with a guide rod 4202 that passes through the fixing ring 4205 at one end. When the scraper 4207 is in threaded contact with the threaded shaft 15, the fixing ring 4205 contacts the liquid cavity 421 and the guide rod 4202 pushes the displacement disk 4206 upward so that the end of the plug-in sleeve 4204 with holes extends out of the water injection cylinder 4203. When the guide rod 4202 is not in contact with the liquid cavity 421, the fixing ring 4205 contacts and seals with the displacement disk 4206.

[0070] During use, the cleaning agent in the liquid chamber 421 enters the water injection cylinder 4203 through the hole on the plug-in cylinder 4204, and then enters the nozzle 424 through the water injection cylinder 4203 and is sprayed out. When it is not needed, the arc plate 426 returns to its original position, the water injection cylinder 4203 moves upward, and the fixing ring 4205 moves upward. During the upward movement, the pull-down spring 4201 drives the plug-in cylinder 4204 to return to its original position through the displacement plate 4206 until the displacement plate 4206 and the fixing ring 4205 are in contact and sealed.

[0071] The process of the lower arc plate 426 discharging cleaning agent is the same as described above. When the two arc plates 426 are in contact, the cleaning agent is drawn in through the hole on the plug-in cylinder 4204. After the arc plate 426 is reset and sealed, the cleaning agent is no longer drawn in.

[0072] In this embodiment, the lubrication assembly 43 includes a fixing plate 434 fixed in the sliding cavity 17, a threaded cylinder 432 with a threaded hole, a return spring 433 fixed on the threaded cylinder 432, and a lubrication cavity 431 formed on the threaded cylinder 432. The fixing plate 434 has a through hole, the threaded cylinder 432 is connected to the through hole by a bearing, the threaded shaft 15 is threadedly connected to the threaded cylinder 432, the threaded cylinder 432 has multiple holes communicating with the threaded hole and the lubrication cavity 431, and a grease inlet hole is formed on the outer surface of the threaded cylinder 432. 437, the fixed plate 434 has a connecting hole that communicates with the grease tank 2, the threaded cylinder 432 is provided with an angle limiting component to limit the maximum rotation angle of the threaded cylinder 432. When the threaded cylinder 432 rotates clockwise to the point where it cannot rotate, the grease inlet 437 is sealed and communicated with the connecting hole. The outer surface of the threaded cylinder 432 has a strip hole along the circumferential direction. The strip hole is not communicated with the lubrication cavity 431. One end of the return spring 433 extends out from the strip hole and is connected to the fixed plate 434. The limiting protrusion 435 is fixed on the threaded cylinder 432.

[0073] When the threaded shaft 15 drives the threaded cylinder 432 to rotate until the grease inlet 437 is connected to the connecting hole, the grease enters the lubrication chamber 431 through the chamber 41 and is applied to the threaded shaft 15 through the lubrication chamber 431, thereby achieving lubrication of the threaded shaft 15. When the threaded shaft 15 reverses, the return spring 433 reverses with the rotation of the threaded shaft 15, thereby achieving reset. At this time, the grease inlet 437 is no longer connected to the connecting hole.

[0074] The lubrication components 43 are preferably four in number, with two in each sliding cavity 17. The angle limiting components of the two lubrication components 43 are set opposite to each other, so that when rotating in the forward direction, one side of each lubrication component 43 is provided with a cleaning component, one lubrication component 43 is open and the other lubrication component 43 is closed, while when rotating in the reverse direction, the other lubrication component 43 is open.

[0075] In this embodiment, a sealing ring 436 is glued into the through hole of the fixing plate 434 to seal and contact the threaded cylinder 432. The sealing ring 436 has a hole corresponding to the position of the connection hole. The limiting component includes a sliding protrusion 439 fixed on the threaded cylinder 432. An arc-shaped slide 438 is provided in the through hole of the fixing plate 434 for the sliding protrusion 439 to slide.

[0076] When in use, the threaded cylinder 432 rotates, and the sliding protrusion 439 rotates along the arc-shaped slide 438. When the arc-shaped slide 438 cannot rotate, the grease inlet 437 connects with the connecting hole, thereby ensuring lubrication.

[0077] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A box-type cargo fan-shaped shelving system, characterized in that: The system includes an equipment module and a central control module for controlling the equipment module. The central control module includes a control module, a sector-shaped shelving analysis module, a depth marking module, and a threshold control module. The equipment module includes a robotic arm module, a stacking module, and a shelving module. The shelving module includes multiple shelving units, and different shelving units are divided into shelving units A and B based on their positions. The control module uses control equipment to achieve overall control of the equipment module. The sector-shaped shelving analysis module uses scanning equipment to acquire box information and confirms whether the box needs to be shipped out the next day based on the box's outbound information. When the box needs to be shipped out the next day and adjacent storage locations of adjacent shelf A cannot be combined, the box is centered on the storage location at the bottom layer containing the box. The boxes are placed in a fan-shaped pattern to the storage locations on shelf A that do not yet contain any boxes. If a shipment is required for the next day and adjacent storage locations on adjacent shelf A can be combined, the entire row of available storage locations is queried and retrieved in ascending order by column. If a shipment is not required for the next day and there is no shipment order, available storage locations on shelf B are queried in descending order by column. The depth marking module uses symbols to mark the status of the storage locations. The threshold control module sets a maximum depth threshold based on the shelf sizes of shelf A and shelf B. When the threshold is reached, the fan-shaped shelving analysis module stops searching and returns the current storage location. The robotic arm module uses a robotic arm to grip the boxes. The stacking module uses a stacker crane to transport the boxes and stack them to the corresponding storage locations.

2. The box-type cargo fan-shaped shelving system according to claim 1, characterized in that: When the fan-shaped shelving analysis module needs to retrieve the goods on the second day and finds the storage location with boxes on the bottom layer, it determines whether the boxes can be placed based on the size of the storage location, the area of ​​the storage location already occupied, the area of ​​the storage location corresponding to the adjacent shelf A, and the size of the boxes to be placed. If the boxes cannot be placed, it searches for storage locations that can be placed in a fan shape with the storage location with boxes on the bottom layer as the center.

3. The box-type cargo fan-shaped shelving system according to claim 2, characterized in that: The sector analysis module uses a depth-first search algorithm to recursively search upwards, leftwards, and rightwards from a given storage location until a usable storage location is found or the maximum depth is reached.

4. The box-type cargo fan-shaped shelving system according to claim 3, characterized in that: The stacker crane includes a stacker crane body, a lifting plate adjustable in height from the stacker crane body, two lower sliding plates located on the lifting plate, a sliding plate slidably connected to the lower sliding plate, an upper sliding plate slidably connected to the sliding plate, a threaded shaft rotatably connected to the lower and upper sliding plates, and a drive motor fixed to the lower and upper sliding plates. The drive motor is connected to the threaded shaft, and the sliding plate is threadedly connected to the threaded shaft. The sliding plate is provided with at least two lubrication components to achieve self-lubrication of the two threaded shafts. A cleaning component for removing deteriorated grease from the threaded shaft is provided on one side of each lubrication component. The lifting plate is provided with a grease tank, a water tank, and a cleaning agent tank communicating with the lubrication and cleaning components. The cleaning assembly, grease tank, and water tank are each connected to an air pump located on a lifting plate, and the cleaning agent tank is connected to a water pump located on the lifting plate. The cleaning assembly includes two arc-shaped fixed plates located in a sliding cavity, two arc-shaped plates located between the two arc-shaped fixed plates, a piston rod connected to the arc-shaped plates, and a connecting assembly. The two arc-shaped plates and the two arc-shaped fixed plates are concentric and mirror-image arranged vertically. The arc-shaped fixed plates have liquid chambers with channels. The arc-shaped fixed plates have adjustment chambers for the piston rod to insert into. The adjustment chambers and the chamber connected to the air pump are connected to the channels. The two arc-shaped plates abut at both ends and have V-shaped grooves on their opposite sides. The V-shaped groove of the upper arc-shaped plate is provided with a connecting assembly. The nozzle is connected to a connecting component, with the other end of the connecting component extending into the liquid chamber. The two liquid chambers are independently connected to a water tank and a detergent tank, respectively, through chambers. Sliding chambers are respectively formed on the upper and lower sides of the sliding plate. Each sliding chamber is equipped with a threaded block, and the threaded shaft is threadedly connected to the threaded block. The sliding plate has four chambers, which are respectively connected to a lubrication component, a cleaning component, an air pump, a grease tank, a water tank, and a detergent tank. The drive motor can pass through the sliding chambers. The lower sliding plate is slidably connected to a slide rail plate on the lifting plate. An adjusting rod is connected to the two lower sliding plates to adjust the distance between them. The sides at both ends of the V-groove on the upper arc plate are provided with threads that connect to the threaded shaft. The scraper has threaded contact and a gap between two scraper blades at the same end of the V-groove. The arc plate is provided with a guide post inserted into the arc fixed plate. The upper arc plate has an insertion groove. The lubrication component is provided with a limiting protrusion inserted into the insertion groove to prevent the lubrication component from discharging grease. When the distance between the two arc plates is at its maximum, the limiting protrusion is not located in the insertion groove. The communication component includes a water injection cylinder sealed and inserted into the arc fixed plate, an insertion cylinder inserted into the water injection cylinder, a fixing ring fixed to one end of the water injection cylinder located in the liquid cavity, and a displacement plate fixed to one end of the insertion cylinder located in the liquid cavity. The other end of the water injection cylinder is fixed to the arc plate and communicates with the nozzle.The insert sleeve is fitted with pull-down springs at both ends fixed to the displacement disk and the fixing ring. The insert sleeve has multiple holes at one end located in the liquid chamber. The displacement disk has a guide rod with one end passing through the fixing ring. When the scraper plate is in threaded contact with the threaded shaft, the fixing ring contacts the liquid chamber, and the guide rod pushes the displacement disk upwards, causing the end of the insert sleeve with holes to extend out of the water injection cylinder. When the guide rod is not in contact with the liquid chamber, the fixing ring contacts and seals with the displacement disk. The lubrication assembly includes a fixing plate fixed in the sliding cavity, a threaded cylinder with threaded holes, a return spring on the threaded cylinder, and a lubrication cavity on the threaded cylinder. The fixing plate has... The device has a through hole, in which the threaded cylinder is rotatably connected. The threaded shaft is threadedly connected to the threaded cylinder. The threaded cylinder has multiple holes communicating with the threaded hole and the lubrication cavity. A grease inlet hole is located on the outer surface of the threaded cylinder. A connecting hole communicating with the grease tank is provided on the fixed plate. The threaded cylinder is equipped with an angle limiting component to limit its maximum rotation angle. When the threaded cylinder rotates clockwise to its limit, the grease inlet hole and the connecting hole are sealed together. A strip-shaped hole is located on the outer surface of the threaded cylinder along the circumferential direction. This strip-shaped hole is not communicating with the lubrication cavity. One end of the return spring extends from the strip-shaped hole and is connected to the fixed plate. The limiting protrusion is located on the threaded cylinder.

5. A box-type cargo fan-shaped shelving system according to claim 4, characterized in that: The through hole of the fixing plate is provided with a sealing ring that seals with the threaded cylinder. The sealing ring has a hole corresponding to the position of the connection hole. The limiting component includes a sliding protrusion fixed on the threaded cylinder. The through hole of the fixing plate is provided with an arc-shaped slide for the sliding protrusion to slide.

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