A mechanism and method for multi-object pick up and single object drop off

Abstract

This invention discloses a mechanism and method for retrieving and storing multiple items and handling single-item drops. It includes a frame with side support tubes connected to both sides, a flipping mechanism with a flipping rack and a flipping gear, and a reverse linkage clamping mechanism. The reverse linkage clamping mechanism includes: a clamping frame connected to the flipping mechanism; a rack and pinion flipping assembly including a linkage gear, a clamping rack, and a supporting rack; when the linkage gear rotates, the clamping rack and the supporting rack move in opposite directions, thus achieving reverse linkage of the reverse linkage clamping mechanism; a clamping assembly driven to open and close by the clamping rack, connected to the frame body, including clamping claws; and a supporting assembly driven by the supporting rack, opening and closing alternately with the clamping assembly, connected to the frame body above the clamping assembly, including supporting claws; the distance from the top surface of the supporting assembly to the top surface of the clamping assembly is greater than the height of one item but less than the sum of the heights of two items.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a mechanism for batch storage and retrieval of stacked items and individual retrieval, and more particularly to a mechanism and method for storing and retrieving multiple items and handling single item drops. Background Technology

[0002] Currently, the robotics industry is developing rapidly both domestically and internationally, and robotics technology has been widely applied in fields such as medicine, industrial and agricultural production, and even the military. Many work scenarios involve the batch storage and retrieval of stacked items, as well as individual retrieval. If the batch retrieval, storage, and individual retrieval of stacked items could be achieved mechanically, processes would be simplified, workload reduced, and working hours shortened in numerous situations. Summary of the Invention

[0003] This invention provides a mechanism and method for storing and retrieving multiple items and dropping a single item. It enables the batch storage and retrieval of stacked items and allows for the dropping of a single item within a certain plane.

[0004] To achieve this technical objective, the present invention provides the following technical solution:

[0005] A mechanism capable of retrieving and storing multiple items and handling single item drops includes a frame with side support tubes connected to both sides, a flipping mechanism with a flipping rack and a flipping gear, and a reverse linkage clamping mechanism. The flipping mechanism is used to lift and flip the reverse linkage clamping mechanism, and the frame has accommodating space at the front and rear for the flipping mechanism to flip.

[0006] The reverse linkage clamping mechanism includes:

[0007] The clamping frame, including the frame body, is connected to the flipping mechanism and can be flipped by the flipping mechanism to support the reverse linkage clamping mechanism.

[0008] The gear and rack flipping assembly includes a linkage gear connected to the frame body, a clamping rack meshing with the bottom surface of the linkage gear, and a supporting rack meshing with the top surface of the linkage gear. When the linkage gear rotates, the clamping rack and the supporting rack move in opposite directions, thereby realizing the reverse linkage of the reverse linkage clamping mechanism.

[0009] A clamping assembly, used for gripping and temporary storage, is driven to open and close by a clamping rack and connected to the frame body. It includes clamping jaws, comprising a left clamping jaw and a right clamping jaw, which close from both sides to form a clamping space; and

[0010] The support component, used to support the item after flipping, is driven by the support rack and opens and closes alternately with the clamping component. It is connected to the frame body above the clamping component and includes support claws, which include a left support claw and a right support claw. When the two are closed, they form a support plate.

[0011] The distance from the top surface of the supporting component to the top surface of the clamping component is greater than the height of one item but less than the sum of the heights of two items.

[0012] The aforementioned mechanism for retrieval and storage of multiple items and handling of single-item drops includes a clamping frame comprising a frame body and a limiting frame. The limiting frame includes a top limiting plate connected to the top of the frame body in the middle and a bottom limiting plate connected to the bottom of the frame body in the middle. The top limiting plate is butterfly-shaped, including two front wings for organizing items and two rear wings for connecting. The bottom limiting plate is an arc-shaped plate adapted to the shape of the two front wings. Limiting rods are connected between the ends of the two front wings and the corresponding ends of the bottom limiting plate. The frame body, the two front wings, the bottom limiting plate, and the limiting rods together form an organizing space.

[0013] The above-mentioned mechanism enables the retrieval and storage of multiple items and the handling of a single item falling.

[0014] The clamping assembly also includes a clamping limiting plate, a clamping short connecting plate, a first rotating rod, and a second rotating rod;

[0015] The left clamping jaw includes an upper left clamping jaw and a lower left clamping jaw; the right clamping jaw includes an upper right clamping jaw and a lower right clamping jaw, which are adapted to the shape of the upper left clamping jaw and the lower left clamping jaw; the ends of the upper left clamping jaw and the lower left clamping jaw are rotatably inserted through the second rotating rod, and the positions near the ends are rotatably inserted through the first rotating rod; the ends of the upper right clamping jaw and the lower right clamping jaw are rotatably inserted through the second rotating rod, and the positions near the ends are rotatably inserted through the first rotating rod.

[0016] The clamping limiting plate is arc-shaped and located below the clamping claws. Its middle part is connected to the frame body, and its two ends are rotatably connected to the first rotating rod to support the clamping claws.

[0017] The clamping short connecting plate has one end rotatably connected to the clamping rack, and the other end rotatably passes through the second rotating rod.

[0018] The clamping rack moves under the drive of the linkage gear, while the upper left and upper right clamping jaws open and close under the limiting action of the clamping limit plate and the drive of the clamping short connecting plate. At the same time, the lower left and lower right clamping jaws open and close together to clamp the items, thus completing the clamping and storage of the items.

[0019] The aforementioned mechanism for retrieval and storage of multiple items and handling of single-item drops includes a clamping assembly comprising a clamping slider, a clamping guide rail, and a jaw connecting tube. The clamping guide rail is connected to the frame body and slidably connected to the clamping slider. The clamping slider is connected to the clamping rack. One end of the clamping short connecting plate is rotatably connected to the clamping slider, and the other end is rotatably mounted on the second rotating rod. The clamping parts of the upper left and lower left clamping jaws, and the clamping parts of the upper right and lower right clamping jaws are connected and fixed by the jaw connecting tube.

[0020] The above-mentioned mechanism enables the retrieval and storage of multiple items and the handling of a single item falling.

[0021] The support assembly also includes a support slider, a support guide rail, a support limiting plate, and a support short connecting plate;

[0022] The supporting claw is located below the top limiting plate and is arc-shaped. The ends of the left and right supporting claws are rotatably connected to the supporting short connecting plate, and the position near the end is rotatably inserted into the first rotating rod.

[0023] The supporting slider is connected to the supporting rack and moves as the supporting rack moves;

[0024] The support rail is slidably connected to the support slider and is used to limit the movement of the support slider, while also connecting to the frame body.

[0025] The supporting limiting plate is arc-shaped, away from the center of the supporting claw, connected to the frame body in the middle, and rotatably mounted on the first rotating rod at both ends;

[0026] The end of the supporting short connecting plate away from the supporting claw is rotatably connected to the supporting slider, and the supporting claw is clamped in the middle by the top limiting plate and the supporting limiting plate.

[0027] The aforementioned mechanism for retrieving and storing multiple items and handling single item drops includes a support component that further comprises a support auxiliary plate connected above the clamping jaws. The support auxiliary plate has a wedge-shaped cross-section and is thinner closer to the center of the support jaws.

[0028] The aforementioned mechanism for retrieving and storing multiple items and handling single item drops includes a flipping mechanism comprising a lifting assembly, a guiding assembly, and a gear and rack flipping assembly.

[0029] The lifting assembly includes a first motor, a lead screw, and a lead screw nut, wherein the output shaft of the first motor is connected to the lead screw, and the lead screw nut is threadedly connected to the lead screw.

[0030] The guide assembly includes a flip slider and a flip guide rail. The flip slider and the flip guide rail are slidably connected. The flip guide rail is connected to the side support tube. The flip slider is connected to the lead screw nut.

[0031] The gear and rack flipping assembly includes a flipping rack connected to the side support tube, a flipping gear meshing with the flipping rack, a first flipping rod bearing seat connected to the aforementioned flipping slider, and a first flipping rod passing through the first flipping rod bearing seat. The middle part of the flipping gear is connected to the first flipping rod, and the first flipping rod is connected to the frame body. The rotation of the flipping gear drives the first flipping rod to flip together.

[0032] In the aforementioned mechanism capable of retrieving and storing multiple items and handling single item drops, when the clamping jaws are in the closed state, the clamping jaws tend to rotate around the first rotating rod under force. The second rotating rod then applies a force in the direction of the short connecting rod to the clamping short connecting plate. At this time, the two clamping short connecting plates and the clamping short connecting plate connector form a straight line that coincides with the direction of the force on the short connecting rod, making them unable to move, thus forming a self-locking mechanism.

[0033] The method of using the mechanism described above for multi-item retrieval and single-item dropping involves the following steps: The linkage gear rotates, and the two clamping jaws grip multiple items at once. At this time, the supporting jaws open. After retrieval, the flip gear drives the reverse linkage clamping mechanism to rotate 90° first, aligning the multiple items. The reverse linkage clamping mechanism continues to rotate until fully rotated, which constitutes storage. When dropping items, the linkage gear rotates in the reverse direction, the two clamping jaws open, and the supporting jaws close, allowing all items to fall onto the supporting jaws. The linkage gear then rotates back, leaving the bottom item on the supporting jaws, while the remaining items are gripped by the two clamping jaws until fully clamped. At this time, the supporting jaws completely separate, and the bottom item falls, achieving single-item dropping. Without flipping, the clamping and opening process is repeated, allowing items to fall sequentially from below until all items have fallen.

[0034] The purpose of the mechanism described in any of the above claims, which enables the retrieval and storage of multiple items and the separate dropping of a single item, is to grip multiple items at once and to separate and drop a single item.

[0035] The advantages of this invention are:

[0036] 1. The lifting assembly and gear rack tilting assembly are used for tilting and lifting. It has excellent impact resistance, high precision, high reliability and can withstand large loads. When the lead screw nut rises to the highest point, the motor can lock the position without outputting force under the restriction of the upper bearing seat.

[0037] 2. It adopts a single gear to drive a double rack, which can realize the opening and closing of two grippers by a single motor in reverse linkage, thereby realizing the batch retrieval, storage and single retrieval of stacked items. Attached Figure Description

[0038] Figure 1 This is an isometric view of the initial state of the ring clamping mechanism in this invention.

[0039] Figure 2This is an isometric view of the present invention with the ring not clamped and rotated 90°.

[0040] Figure 3 This is an isometric view of the present invention with the ring not clamped and rotated 180°.

[0041] Figure 4 This is an isometric view of the lifting assembly and related structures of the present invention.

[0042] Figure 5 This is an isometric view of a portion of the flipping mechanism structure of the present invention.

[0043] Figure 6 This is an isometric view of the clamping frame of the present invention after it has been flipped over.

[0044] Figure 7 This is a schematic diagram of the tidying ring after the clamping frame of the present invention is rotated 90°.

[0045] Figure 8 This is an isometric view of the gear and rack flipping assembly and related structures of the present invention.

[0046] Figure 9 This is an exploded view of a portion of the gear and rack flipping assembly of the present invention.

[0047] Figure 10 This is an isometric view of the clamping assembly and related structures of the present invention in their closed state before flipping.

[0048] Figure 11 This is an isometric view of the support component of the present invention after it has been flipped.

[0049] Figure 12 This is an isometric view of the reverse linkage clamping mechanism of the present invention in a 180° flipped state.

[0050] Figure 13 This is an isometric view of the rings falling onto the supporting jaws after being flipped over.

[0051] Figure 14 This is an isometric view of the last ring after it has been flipped and separated.

[0052] Figure 15 This is an isometric view of the last ring falling after the flip.

[0053] Figure 16 This is a partial structural diagram showing the gripper opening after flipping.

[0054] Figure 17 This is a partial structural diagram showing the gripper jaws closing after flipping.

[0055] Figure 18 A partial structural diagram showing the support jaws when they are open.

[0056] Figure 19 This is a partial structural diagram showing the support jaws when they are closed.

[0057] In the picture:

[0058] 100 - Frame, 101 - Side support tube;

[0059] 200-Tilting mechanism, 2100-Lifting assembly, 2101-First motor, 2102-Lead screw, 2103-Lead screw nut, 2104-First motor base, 2105-Coupling, 2106-First bearing with seat, 2107-Second bearing with seat, 2108-Upper first bearing with seat fixing, 2109-Lower second bearing with seat fixing, 2110-Lead screw nut extension; 2200-Guide assembly, 2201-Tilting slider, 2202-Tilting guide rail, 2203-Connecting plate; 2300-Gear and rack tilting assembly, 2301-Tilting rack, 2302-Tilting gear, 2303-Connecting shaft, 2400-Tilting frame, 2401-First tilting rod, 2402-First tilting rod bearing seat, 2403-Second tilting rod, 2404-First side bearing, 2405-Second side bearing;

[0060] 300-Reverse linkage clamping mechanism; 3100-Clamping frame; 3101-Frame body; 31011-Frame body fixing component; 3102-Limiting frame; 31021-Top limiting plate; 31022-Bottom limiting plate; 31023-Limiting rod; 31024-Limiting ring; 3200-Gear and rack reverse linkage assembly; 3201-Linking gear; 3202-Linking gear extension shaft; 3203-Linking gear bearing; 3204-Linking gear bearing seat; 3205-Clamping rack; 3206-Supporting rack; 3300-Clamping assembly; 3301-Clamping jaw; 3302-Clamping slider; 3303-Clamping guide rail 3304-Clamping short connecting plate, 3305-Clamping limiting plate, 3306-First rotating rod, 3307-Second rotating rod, 3308-Gripper connecting tube, 3309-Clamping auxiliary plate, 3310-Clamping short connecting plate connector, 3311-Clamping guide rail fixing component; 3400-Supporting assembly, 3401-Supporting gripper, 3402-Supporting slider, 3403-Supporting guide rail, 3404-Supporting limiting plate, 3405-Supporting short connecting plate, 3406-Supporting short connecting plate connector, 3407-Supporting auxiliary plate; 3500-Clamping power assembly, 3501-Second motor, 3502-Second motor fixing seat, 3503-Fixing ring;

[0061] 400-Ring. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0063] This invention provides a technical solution:

[0064] like Figure 1 As shown, a mechanism capable of retrieving and storing multiple items and handling single-item drops includes a frame 100 connected to side support tubes 101 on both sides, a flipping mechanism 200 with a flipping rack 2301 and a flipping gear 2302, and a reverse linkage clamping mechanism 300. The flipping mechanism 200 is used to lift and flip the entire reverse linkage clamping mechanism 300 fixed to the flipping gear 2302. The frame 100 has accommodating spaces at the front and rear for the flipping mechanism 200 to flip. The flipping and lifting process is as follows: Figures 1-3 As shown; the side support tube 101 may be made of aluminum tube.

[0065] like Figure 1 As shown, the reverse linkage clamping mechanism 300 includes:

[0066] The clamping frame 3100 includes a frame body 3101, which is connected to the flipping mechanism 200 and can be flipped by the flipping mechanism 200 to support the reverse linkage clamping mechanism 300.

[0067] like Figure 3 , Figure 1 , Figure 8 As shown, the gear and rack flipping assembly 3200 includes a linkage gear 3201 connected to the frame body 3101, a clamping rack 3205 meshing with the bottom surface of the linkage gear 3201, and a supporting rack 3206 meshing with the top surface of the linkage gear 3201. When the linkage gear 3201 rotates, the clamping rack 3205 and the supporting rack 3206 move in opposite directions, thereby realizing the reverse linkage of the reverse linkage clamping mechanism 300.

[0068] like Figure 1 , Figure 8 As shown, the clamping assembly 3300, used for gripping and temporary storage, is driven to open and close by the clamping rack 3205 and is connected to the frame body 3101. It includes a left clamping jaw and a right clamping jaw, which close from the left and right to form a clamping space; and

[0069] Support component 3400, such as Figure 1 , Figure 8 , Figure 11As shown, it is used to support the item after flipping, driven by the support rack 3206, and alternately opens and closes with the clamping assembly 3300. It is connected to the frame body 3101 above the clamping assembly 3300 and includes the support claw 3401.

[0070] The distance from the top surface of the supporting component 3400 to the top surface of the clamping component 3300 is greater than the height of one item but less than the sum of the heights of two items.

[0071] like Figure 1 , Figure 10 , Figure 11 As shown, the linkage gear 3201 rotates, and the two gripping jaws 3301 grip multiple items at once. At this time, the supporting jaws 3401 open. After the items are picked up, as shown... Figure 5 , Figure 1 As shown, the flip gear 2302 drives the reverse linkage clamping mechanism 300 to first rotate 90°, and the limiting frame 3102 aligns and organizes multiple items. The reverse linkage clamping mechanism 300 continues to rotate until it is fully rotated, which is the storage function; when items fall, as... Figure 8 , Figure 10 , Figure 11 As shown, the linkage gear 3201 rotates in the opposite direction, the two clamping jaws 3301 open, and the supporting jaw 3401 closes. All items fall onto the supporting jaw 3401. The linkage gear 3201 rotates back, and the bottom item remains on the supporting jaw 3401. The remaining items are gripped by the two clamping jaws 3301 until they are fully clamped. At this point, the supporting jaw 3401 completely separates, and the bottom item falls. This process of dropping individual items without flipping them is repeated, allowing items to fall sequentially from below until all items have fallen.

[0072] This invention can be used for the simultaneous storage and retrieval of multiple stacked items, as well as the sequential dropping of individual items. The items can be regular shapes such as cubes, cylinders, or frustums of cones. It is particularly effective in solving the problems of simultaneously storing and retrieval of multiple stacked rings, and the sequential dropping of individual rings. This embodiment uses a ring as an example for illustration.

[0073] Specifically, such as Figure 5 As shown, the tilting mechanism 200 includes a lifting assembly 2100, a guide assembly 2200, a gear and rack tilting assembly 2300, and a tilting frame 2400.

[0074] like Figure 4As shown, the lifting assembly 2100 includes a first motor 2101, a first motor base 2104, a coupling 2105, an upper first bearing fixing member 2108, a lower second bearing fixing member 2109, a lead screw 2102, a lead screw nut 2103, a first bearing 2106, a second bearing 2107, and a lead screw nut extension member 2110. The lead screw nut extension member 2110 is wrapped around the lead screw nut 2103 to support and expand the lead screw nut 2103. The first motor 2101 is fixedly mounted on the first motor base 2104 and relatively grounded. The first motor base 2104 is connected to the side support tube 101 and connected to the output lead screw 2102 via a coupling 2105. The lead screw 2102 is restricted to one degree of freedom of rotation about an axis by a first bearing 2106 and a second bearing 2107. The first bearing 2106 is connected to the upper first bearing fixing member 2108, which is connected to the side support tube 101. The lead screw nut 2103 is threadedly connected to the lead screw 2102. The second bearing 2107 is connected to the lower second bearing fixing member 2109, which is connected to the side support tube 101. The upper first bearing fixing member 2108, the lower second bearing fixing member 2109, and the lead screw nut extension member 2110 can be printed parts. The first motor mount 2104 can be made of carbon plate.

[0075] like Figure 4 As shown, a spring is fitted above the second seated bearing 2107 on the lead screw 2102 to reduce the impact when it flips and descends to the bottom. The hole in the middle of the lower second seated bearing fixing part 2109 is closed to prevent the lead screw 2102 from disengaging from the coupling 2105 when the top screw on the second seated bearing 2107 comes loose.

[0076] like Figure 5 , Figure 1 As shown, the guide assembly 2200 can have two or one flip slider 2201 on the same side. When there are two flip sliders 2201 on one side, taking one side as an example, it includes two flip sliders 2201, a flip guide rail 2202, and a connecting plate 2203. The flip sliders 2201 and the flip guide rail 2202 are slidably connected and distributed along the longitudinal direction of the flip guide rail 2202, thereby reducing the overturning moment on the flip sliders 2201 and extending their service life. The flip guide rail 2202 is set close to the edge of the side support tube 101, which can ensure that the verticality of the flip guide rail 2202 is not affected by the hole machining accuracy. The flip sliders 2201 are connected to the connecting plate 2203 on one side by screws, and the other side of the connecting plate 2203 is connected to the lead screw nut 2103. The connecting plate 2203 can be a carbon plate.

[0077] like Figure 5As shown, the gear and rack flipping assembly 2300 includes a flipping rack 2301 connected to the side support tube 101, a flipping gear 2302 meshing with the flipping rack 2301, a first flipping rod bearing seat 2402 fixed to the flipping slider 2201 via a connecting plate 2203, a first flipping rod 2401 passing through the first flipping rod bearing seat 2402, a second flipping rod 2403 fixed to the first flipping rod 2401, a first side bearing 2404, a second side bearing 2405, and a connecting shaft 2303 fixed to the flipping gear 2302 and the first flipping rod 2401. The second side bearing 2405 at the outer end of the first flipping rod bearing seat 2402 is limited by the connecting shaft 2303, and the first side bearing 2404 is limited by the screw head of the screw fixing the connecting shaft 2303. When the flipping gear 2302 rotates, it will drive the connecting shaft 2303, the first flipping rod 2401, and the second flipping rod 2403 to flip together. The first flipping rod bearing seat 2402 can be a printed part.

[0078] like Figure 4 , Figure 5 , Figure 1 As shown, the first motor 2101 drives the lead screw 2102 to rotate, thereby raising and lowering the lead screw nut 2103. The flip slider 2201 and the flip guide rail 2202 are parallel to the flip rack 2301, thus preventing the lead screw nut 2103 from rotating on its own. This allows the lead screw nut 2103 to drive the flip gear 2302 to roll along the flip rack 2301, causing the entire reverse linkage clamping mechanism 300, which is fixed to the flip gear 2302 via the first flip rod 2401 and the second flip rod 2403, to flip and rise. The flipping and rising process is as follows: Figures 1-3 As shown. Since the first flipping rod 2401 can rotate within the first flipping rod bearing housing 2402, the guide assembly 2200 can guide but does not restrict the flipping gear 2302 from driving the reverse linkage clamping mechanism 300 to flip. The first flipping rod bearing housing 2402 can be a printed part. Both the first flipping rod 2401 and the second flipping rod 2403 can be made of aluminum tubing.

[0079] Specifically, such as Figure 2 and Figure 3 As shown, the reverse linkage clamping mechanism 300 includes a clamping frame 3100, a gear and rack flipping assembly 3200, a clamping assembly 3300, and a supporting assembly 3400.

[0080] like Figure 6 , Figure 1 , Figure 10The diagram shows the structure of the clamping frame 3100 after it has been flipped. The clamping frame 3100 includes a frame body 3101 and a limiting frame 3102. The limiting frame 3102 includes a top limiting plate 31021 connected to the top of the frame body 3101 in the middle and a bottom limiting plate 31022 connected to the bottom of the frame body 3101 in the middle. The top limiting plate 31021 is butterfly-shaped and includes two front wings for arranging the rings and two rear wings for connecting them. The bottom limiting plate 31022 is an arc-shaped plate adapted to the shape of the two front wings. Limiting rods 31023 are connected between the ends of the two front wings and the corresponding ends of the bottom limiting plate 31022. The frame body 3101, the two front wings, the bottom limiting plate 31022, and the limiting rods 31023 together form an arranging space. The limiting rod 31023 in the clamping frame 3100 contacts two points on the outer circumference of each ring, which can cooperate with the gripper connecting tube 3308 on the reverse linkage clamping mechanism 300 to limit the ring. When the reverse linkage clamping mechanism 300 rises and rotates 90° from the initial state, it separates the ring from the clamping frame 3100 as a whole. Figure 7 As shown, the ring will be repositioned under the influence of gravity and the clamping frame 3100. The frame body 3101 can be fixedly connected to both the first flipping rod 2401 and the second flipping rod 2403, or it can be connected only to the first flipping rod 2401. The end of the limiting rod 31023 can be connected to a limiting ring 31024 to prevent the limiting rod 31023 from detaching from the bottom limiting plate 31022 and the top limiting plate 31021. The bottom limiting plate 31022 and the top limiting plate 31021 can be made of carbon fiber.

[0081] like Figure 8 , Figure 9 As shown, the gear and rack flipping assembly 3200 includes a linkage gear 3201, a linkage gear extension shaft 3202, a linkage gear bearing 3203, a linkage gear bearing seat 3204, a clamping rack 3205 that meshes with the bottom surface of the linkage gear 3201, and a supporting rack 3206 that meshes with the top surface of the linkage gear 3201.

[0082] like Figure 9 , Figure 8As shown, the clamping power assembly 3500 includes a second motor 3501, a second motor mounting base 3502, and a fixing ring 3503. The linkage gear extension shaft 3202, the linkage gear 3201, and the fixing ring 3503 are connected and fixed in series with nails. The second motor 3501 is fixed to the frame body 3101 via the second motor mounting base 3502. Tightening the fixing ring 3503 causes the second motor 3501 to drive the fixing ring 3503 and the linkage gear 3201 connected to it to rotate via its output shaft. The linkage gear bearing seat 3204 is connected to the frame body 3101, and the linkage gear bearing 3203 is engaged with it. The inner ring of the linkage gear bearing 3203 is fitted onto the linkage gear extension shaft 3202 to prevent the motor shaft from being subjected to radial force. When the linkage gear 3201 rotates, the two driven racks meshing with it move in opposite directions parallel to the clamping guide rail 3303, thereby driving the reverse linkage clamping mechanism 300. The second motor mounting base 3502 and the linkage gear bearing housing 3204 can be made of carbon steel plate. The linkage gear bearing housing 3204 and the supporting gripper 3401 can also be made of carbon steel plate.

[0083] like Figure 10 and Figure 11 As shown, the clamping assembly 3300 and the supporting assembly 3400 share the same gear and rack flipping assembly 3200.

[0084] like Figure 10 , Figure 8 As shown, the clamping assembly 3300 also includes a clamping limiting plate 3305, a clamping slider 3302, a clamping short connecting plate 3304, a clamping short connecting plate connector 3310 connecting the driven rack and the clamping slider 3302, a clamping guide rail 3303, a first rotating rod 3306, a second rotating rod 3307, and a gripper connecting tube 3308;

[0085] The left clamping jaw includes an upper left clamping jaw and a lower left clamping jaw; the right clamping jaw includes an upper right clamping jaw and a lower right clamping jaw, which are adapted to the shape of the upper left clamping jaw and the lower left clamping jaw; the ends of the upper left clamping jaw and the lower left clamping jaw are rotatably inserted through the second rotating rod 3307, and the positions near the ends are rotatably inserted through the first rotating rod 3306; the ends of the upper right clamping jaw and the lower right clamping jaw are rotatably inserted through the second rotating rod 3307, and the positions near the ends are rotatably inserted through the first rotating rod 3306.

[0086] Both the left and right gripping jaws can be made of carbon steel plates;

[0087] like Figure 10 and 1As shown, the clamping limiting plate 3305 is an arc-shaped plate located below the clamping claw. Its middle part is connected to the frame body 3101, and its two ends are rotatably connected to the first rotating rod 3306. It is used to support the clamping claw 3301. The clamping limiting plate 3305 can be made of carbon plate.

[0088] like Figure 10 As shown, the connecting portions of the upper left and upper right clamping jaws, near the upper jaw gripping portion, are rotatably mounted on the first rotating rod 3306 together with the clamping limiting plate 3305. To improve the fixing effect, one clamping limiting plate 3305 can be provided on each of the upper left and upper right clamping jaws to clamp them. The first rotating rod 3306 can be of type M5.

[0089] like Figure 8 As shown, the clamping guide rail 3303 is connected to the frame body 3101, and the clamping guide rail 3303 is slidably connected to the clamping slider 3302. The upper surface of the clamping short connecting plate connector 3310 is connected to the clamping rack 3205, and the lower surface is connected to the clamping slider 3302.

[0090] The clamping short connecting plate 3304 has one end rotatably connected to the clamping short connecting plate connector 3310, and the other end rotatably passes through the second rotating rod 3307.

[0091] Specifically, such as Figure 10 As shown, the bottom end of the first rotating rod 3306 is rotatably inserted through the jaw connecting part of the lower left clamping jaw and the lower right clamping jaw near the lower jaw gripping part, and the upper part is rotatably inserted through the clamping limiting plate 3305, the upper left clamping jaw and the upper right clamping jaw near the upper jaw gripping part.

[0092] Specifically, such as Figure 10 As shown, the bottom end of the second rotating rod 3307 is rotatably connected to the end of the jaw connecting part of the lower left and lower right clamping jaws, and the upper part is rotatably connected to the clamping short connecting plate 3304, the upper left clamping jaw, and the upper right clamping jaw; the clamping rack 3205 moves under the drive of the linkage gear 3201, and the upper left and upper right clamping jaws open and close under the limiting action of the clamping limiting plate 3305 and the drive of the clamping short connecting plate 3304.

[0093] To improve the limiting effect, two clamping short connecting plates 3304 can be provided to clamp the ends of the clamping jaw connecting parts of the upper left and upper right clamping jaws from the upper and lower sides.

[0094] To improve the rationality of the distribution of various components and the stability of the connections, such as Figure 10 , Figure 6 , Figure 8As shown, the reverse linkage clamping mechanism 300 may also include a frame body fixing member 31011 for fixing the clamping limit plate 3305 and a clamping guide rail fixing member 3311 for fixing the clamping guide rail 3303. The clamping guide rail 3303 is connected to the frame body 3101 through the clamping guide rail fixing member 3311. The clamping guide rail fixing member 3311 may be a printed part.

[0095] like Figure 10 As shown, the gripper connecting tube 3308 connects and fixes the gripping parts of the upper left and lower left gripping jaws, as well as the upper right and lower right gripping jaws. To improve the effectiveness of gripping ring-shaped goods, the gripper connecting tube 3308 can have two or three sections along the length of the gripping parts. The gripping rack 3205 moves under the drive of the linkage gear 3201. The upper left and upper right gripping jaws open and close under the limiting action of the gripping limiting plate 3305 and the drive of the gripping short connecting plate 3304, simultaneously causing the lower left and lower right gripping jaws to open and close together, clamping the ring-shaped goods and completing the gripping and storage of the ring-shaped goods. The gripper connecting tube 3308 can be made of carbon fiber.

[0096] To facilitate the separation of the ring to be retrieved from the stacked rings, a clamping auxiliary plate 3309 is also included, such as... Figure 10 As shown, the bottom surfaces of the lower left and lower right clamping jaws are connected to the clamping auxiliary plate 3309. The cross-section of the clamping auxiliary plate 3309 is wedge-shaped and becomes thinner towards the center of the clamping jaw 3301.

[0097] Specifically, such as Figure 10 As shown, the clamping short connecting plate 3310 moves synchronously with the clamping rack 3205, driving the clamping slider 3302 to move along the clamping guide rail 3303. The clamping short connecting plate 3304 drives the upper left and upper right clamping jaws to rotate around the first rotating rod 3306, thus opening and closing the clamping jaws. When the clamping jaws change from open to closed in the initial position, the clamping auxiliary plate 3309 can pick up the stacked rings on the ground, achieving ring retrieval. After picking up the rings, it is rotated 180 degrees. Figure 12 (Position) The ring is in the storage state until the gripping jaws open again, thus realizing the storage and retrieval of multiple rings. It is worth mentioning that when the gripping jaws are in the closed state, the left and right gripping jaws are subjected to force and tend to rotate around the first rotating rod 3306. The second rotating rod 3307 provides a force in the direction of the gripping short connecting plate 3304, but the upper and lower gripping short connecting plates 3304 and the gripping short connecting plate connector 3310 have formed a straight line coinciding with the direction of the force on the gripping short connecting plate 3304, and cannot move, thus forming a self-locking mechanism. Correspondingly, the self-locking principle of the supporting jaws is the same as above. The gripping short connecting plate connector 3310 can be made of carbon plate.

[0098] like Figure 11 As shown, the support assembly 3400 also includes a support slider 3402, a support guide rail 3403, a support limiting plate 3404, a support short connecting plate connector 3406, and a support short connecting plate 3405.

[0099] Supporting jaw 3401, such as Figure 12 As shown, located below the top limiting plate 31021, it is an arc-shaped plate including a left supporting claw and a right supporting claw, which surround each other from the left and right. The ends of the left supporting claw and the right supporting claw are rotatably connected to the supporting short connecting plate 3405, and are rotatably inserted into the first rotating rod near the end.

[0100] Supporting slider 3402, such as Figure 11 As shown, the short connecting plate connector 3406 is connected to the supporting rack 3206 and moves with the supporting rack 3206.

[0101] Support rail 3403, such as Figure 11 , Figure 8 As shown, it is slidably connected to the support slider 3402 for limiting the support slider 3402, and is fixedly connected to the frame body 3101.

[0102] Supporting limit plate 3404, such as Figure 11 As shown, it is an arc-shaped plate, away from the center of the supporting claw 3401, connected to the frame body 3101 in the middle, and rotatably mounted on the first rotating rod 3306 at both ends. The supporting limiting plate 3404 can be made of carbon plate.

[0103] Supporting short connecting plate connector 3406, such as Figure 11 As shown, the upper surface is connected to the supporting slider 3402, and the lower surface is connected to the supporting rack 3206; and

[0104] Supporting short connecting plate 3405, such as Figure 11 , Figure 12 As shown, the end away from the supporting gripper is rotatably connected to the supporting short connecting plate connector 3406 via a rotating shaft, rivet, or bearing, etc. That is, the supporting gripper 3401 is sandwiched in the middle by the top limiting plate 31021 and the supporting limiting plate 3404. The top limiting plate 31021, the supporting gripper 3401, and the supporting limiting plate 3404 are rotatably mounted on the first rotating rod 3306 through the connecting hole.

[0105] Figure 12 The clamping component is positioned after the 10 stacked rings have been rotated 180 degrees. At this point, the clamping component is closed and the supporting component is open.

[0106] Figure 13 The clamping component opens and drops ten rings, while the supporting component closes and connects to the ten rings.

[0107] Figure 14 To prevent the gripper jaws from closing completely, a support plate 3407 divides the 10 rings on the gripper jaws 3301 into 9 rings and 1 ring.

[0108] Figure 15 To ensure the gripper jaws are fully closed, the nine rings are separated and lifted up, and the gripper jaws 3301 are fully opened, with one of the separated rings falling down.

[0109] like Figure 1 and Figure 10 As shown, the clamping component 3300 of the reverse linkage clamping mechanism 300 picks up the stacked items, i.e., the rings, before flipping and rising. After the reverse linkage clamping mechanism 300 flips 180° and rises, the clamping jaws and supporting jaws open and close in a coordinated reverse manner. There is only a gap of one ring between the supporting jaw and the clamping jaw 3301, allowing a single ring to fall. The process of the supporting jaw and the clamping jaw 3301 opening and closing in a coordinated reverse manner to allow a single ring to fall is as follows: Figures 12-15 As shown. This invention can achieve multi-ring storage and retrieval, and single-ring drop, with a success rate of over 99%. It can be used to scoop up stacked items and retrieve individual items.

[0110] like Figure 10 , Figure 11 As shown, the distance the supporting short connecting plate 3406, which connects the supporting rack 3206 and the supporting slider 3402, moves is limited by itself and the supporting rack 3206 respectively against the frame body 3101 and the supporting limiting plate 3404, thereby controlling the opening and closing degree of the gripper; the supporting gripper 3401 has many honeycomb holes, which can ensure the strength of the carbon plate while reducing weight. The supporting assembly 3400 also includes many thrust ball bearings and flange bearings, which serve to reduce friction.

[0111] like Figure 11 , Figure 18 As shown, the opening and closing process of the support assembly 3400 is the process of the two support short connecting plates 3405 and the support short connecting plate connector 3406 changing from a broken line to a straight line. In fact, it is the process of changing the distance d between the farthest axes of the two support short connecting plates 3405 to make the support gripper 3401 rotate around the first rotating rod 3306 by a corresponding angle, as shown. Figure 18 and Figure 19 As shown.

[0112] like Figure 1 and Figure 8 As shown, both the first motor 2101 and the second motor 3501 are brushless servo motors.

[0113] The actions and functions that the mechanism of the present invention can achieve are as follows:

[0114] like Figure 4 , Figure 5 As shown, the rotation of the lead screw 2102 causes the lead screw nut 2103 to rise and fall. The lead screw nut 2103 is connected to the reversing gear 2302, enabling the mechanism to rise and fall while simultaneously reversing. Figures 1-3 As shown;

[0115] like Figure 10 As shown, the clamping assembly 3300 can use the clamping auxiliary plate 3309 to pick up the ring, and then keep the clamping jaws closed to realize the function of storing the ring; the clamping auxiliary plate 3309 can be a printed part.

[0116] like Figure 8 , Figure 10 As shown, the linkage gear 3201 drives the clamping rack 3205 and the supporting rack 3206 to move in opposite directions along the clamping guide rail 3303 and the supporting guide rail 3403, respectively, so that the supporting gripper and the clamping gripper are driven by the same module but in opposite opening and closing states. The supporting auxiliary plate 3407 is made of TPU and can undergo slight deformation to adapt to slightly different rings, thereby separating individual rings.

[0117] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A mechanism capable of retrieving and storing multiple items and handling single item drops, characterized in that, The frame (100) includes a frame (101) with side support tubes (101) connected on both sides, a flipping mechanism (200) with a flipping rack (2301) and a flipping gear (2302), and a reverse linkage clamping mechanism (300). The flipping mechanism (200) is used to lift and flip the reverse linkage clamping mechanism (300). The frame (100) has front and rear accommodating spaces for the flipping mechanism (200) to flip. The reverse linkage clamping mechanism (300) includes: The clamping frame (3100) includes a frame body (3101), which is connected to the flipping mechanism (200) and can be flipped by the flipping mechanism (200) to support the reverse linkage clamping mechanism (300); The gear and rack reverse linkage assembly (3200) includes a linkage gear (3201) connected to the frame body (3101), a clamping rack (3205) meshing with the bottom surface of the linkage gear (3201), and a supporting rack (3206) meshing with the top surface of the linkage gear (3201). When the linkage gear (3201) rotates, the clamping rack (3205) and the supporting rack (3206) move in opposite directions, thereby realizing the reverse linkage of the reverse linkage clamping mechanism (300). A clamping assembly (3300), used for gripping and temporary storage, is driven to open and close by a clamping rack (3205) and connected to the frame body (3101). It includes clamping jaws (3301), which consist of a left clamping jaw and a right clamping jaw, which close from the left and right sides to form a clamping space. The support component (3400) is used to support the item after flipping. It is driven by the support rack (3206) and opens and closes alternately with the clamping component (3300). It is connected to the frame body (3101) above the clamping component (3300) and includes a support claw (3401). The support claw (3401) includes a left support claw and a right support claw. When the two are closed, they form a support plate. The distance from the top surface of the supporting component (3400) to the top surface of the clamping component (3300) is greater than the height of one item but less than the sum of the heights of two items.

2. The mechanism for retrieving and storing multiple items and handling a single item falling, as described in claim 1, is characterized in that, The clamping frame (3100) includes a frame body (3101) and a limiting frame (3102). The limiting frame (3102) includes a top limiting plate (31021) connected to the top of the frame body (3101) in the middle and a bottom limiting plate (31022) connected to the bottom of the frame body (3101) in the middle. The top limiting plate (31021) is butterfly-shaped and includes two front wings for organizing items and two rear wings for connecting. The bottom limiting plate (31022) is an arc-shaped plate that conforms to the shape of the two front wings. A limiting rod (31023) is connected between the ends of the two front wings and the corresponding ends of the bottom limiting plate (31022). The frame body (3101), the two front wings, the bottom limiting plate (31022), and the limiting rod (31023) together form an organizing space.

3. The mechanism for retrieving and storing multiple items and handling a single dropped item according to claim 2, characterized in that, The clamping assembly (3300) further includes a clamping limiting plate (3305), a clamping short connecting plate (3304), a first rotating rod (3306), and a second rotating rod (3307); The left clamping jaw includes an upper left clamping jaw and a lower left clamping jaw; the right clamping jaw includes an upper right clamping jaw and a lower right clamping jaw, which are adapted to the shape of the upper left clamping jaw and the lower left clamping jaw; the ends of the upper left clamping jaw and the lower left clamping jaw are rotatably inserted through the second rotating rod (3307), and the position near the end is rotatably inserted through the first rotating rod (3306); the ends of the upper right clamping jaw and the lower right clamping jaw are rotatably inserted through the second rotating rod (3307), and the position near the end is rotatably inserted through the first rotating rod (3306); The clamping limiting plate (3305) is arc-shaped and located below the clamping claw. Its middle part is connected to the frame body (3101), and its two ends are rotatably connected to the first rotating rod (3306) to support the clamping claw (3301). The clamping short connecting plate (3304) is rotatably connected at one end to the clamping rack (3205), and the other end is rotatably mounted on the second rotating rod; The clamping rack (3205) moves under the drive of the linkage gear (3201). The upper left clamping jaw and the upper right clamping jaw open and close under the limiting action of the clamping limiting plate (3305) and the drive of the clamping short connecting plate (3304). At the same time, the lower left clamping jaw and the lower right clamping jaw open and close together to clamp the item and complete the clamping and storage of the item.

4. The mechanism for retrieving and storing multiple items and handling a single item falling, as described in claim 3, is characterized in that... The clamping assembly (3300) further includes a clamping slider (3302), a clamping guide rail (3303), and a jaw connecting tube (3308). The clamping guide rail (3303) is connected to the frame body (3101). The clamping guide rail (3303) is slidably connected to the clamping slider (3302). The clamping slider (3302) is connected to the clamping rack (3205). One end of the clamping short connecting plate (3304) is rotatably connected to the clamping slider (3302), and the other end is rotatably mounted on the second rotating rod. The clamping parts of the upper left clamping jaw and the lower left clamping jaw, and the clamping parts of the upper right clamping jaw and the lower right clamping jaw are connected and fixed through the jaw connecting tube (3308).

5. The mechanism for retrieving and storing multiple items and handling single item drops according to claim 3, characterized in that, The support assembly (3400) also includes a support slider (3402), a support guide rail (3403), a support limiting plate (3404), and a support short connecting plate (3405); The supporting claw (3401) is located below the top limiting plate (31021) and is an arc-shaped plate. The ends of the left and right supporting claws are rotatably connected to the supporting short connecting plate (3405), and are rotatably inserted into the first rotating rod near the end. The supporting slider (3402) is connected to the supporting rack (3206) and moves with the movement of the supporting rack (3206); The support guide rail (3403) is slidably connected to the support slider (3402) for limiting the support slider (3402) and is also connected to the frame body (3101). The supporting limiting plate (3404) is an arc-shaped plate, facing away from the center of the supporting claw (3401), and connected to the frame body (3101) in the middle, with both ends rotatably passing through the first rotating rod; The end of the supporting short connecting plate (3405) away from the supporting claw (3401) is rotatably connected to the supporting slider (3402), and the supporting claw (3401) is clamped in the middle by the top limiting plate (31021) and the supporting limiting plate (3404).

6. The mechanism for retrieving and storing multiple items and handling a single item falling, as described in claim 5, is characterized in that... The support assembly (3400) also includes a support auxiliary plate (3407) connected above the clamping jaws (3301). The support auxiliary plate (3407) has a wedge-shaped cross section and is thinner closer to the center of the support jaws (3401).

7. The mechanism for retrieving and storing multiple items and handling a single item falling, as described in claim 1, is characterized in that, The flipping mechanism (200) includes a lifting assembly (2100), a guide assembly (2200), and a gear and rack flipping assembly (2300); The lifting assembly (2100) includes a first motor (2101), a lead screw (2102), and a lead screw nut (2103), wherein the output shaft of the first motor (2101) is connected to the lead screw (2102), and the lead screw nut (2103) is threadedly connected to the lead screw (2102). The guide assembly (2200) includes a flip slider (2201) and a flip guide rail (2202). The flip slider (2201) and the flip guide rail (2202) are slidably connected. The flip guide rail (2202) is connected to the side support tube (101). The flip slider (2201) is connected to the lead screw nut (2103). The gear and rack flipping assembly (2300) includes a flipping rack (2301) connected to the side support tube (101), a flipping gear (2302) meshing with the flipping rack (2301), a first flipping rod bearing seat (2402) connected to the flipping slider (2201), and a first flipping rod (2401) passing through the first flipping rod bearing seat (2402). The middle part of the flipping gear (2302) is connected to the first flipping rod (2401), and the first flipping rod (2401) is connected to the frame body (3101). The rotation of the flipping gear (2302) drives the first flipping rod (2401) to flip together.

8. The mechanism for retrieving and storing multiple items and handling a single item falling, as described in claim 3, is characterized in that... When the clamping jaws are in the closed state, the clamping jaws (3301) tend to rotate around the first rotating rod (3306) under the force. The second rotating rod (3307) applies a force in the direction of the short connecting plate (3304) to the clamping short connecting plate. At this time, the two clamping short connecting plates (3304) and the clamping short connecting plate connector (3310) form a straight line that coincides with the direction of the force on the short connecting rod, and cannot move, thus forming a self-locking mechanism.

9. A method of using the mechanism for retrieving and storing multiple items and handling a single item drop, as described in any one of claims 1 to 8, characterized in that, When the linkage gear (3201) rotates, the two gripping jaws (3301) grip multiple items at once. At this time, the supporting jaws (3401) open. After the items are picked up, the flip gear (2302) drives the reverse linkage gripping mechanism (300) to rotate 90° first. The gripping frame (3100) aligns the multiple items. The reverse linkage gripping mechanism (300) continues to rotate until it is fully rotated. This is the storage of items. When items fall, the linkage gear (3201) rotates in the opposite direction, and the two gripping jaws (3301) open. 1) Open the gripper (3401), close the gripper, and all items fall onto the gripper (3401). The linkage gear (3201) rotates, and the bottom item remains on the gripper (3401). The remaining items are gripped by the two gripping jaws (3301) until they are fully clamped. At this time, the gripper (3401) completely separates, and the bottom item falls, realizing the drop of a single item without flipping. Repeat the gripping and opening process to realize the items falling from below one by one until all items have fallen.

10. The use of the mechanism for retrieving and storing multiple items and handling a single item drop, as described in any one of claims 1 to 8, characterized in that, Used for grabbing multiple items at once and for separating and dropping a single item.

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