Article handling member, assembly, method and system

Abstract

The application discloses an article taking and placing member for cooperating with a hook to take and place an article, which comprises oppositely arranged first and second finger parts, and the first and second finger parts are configured to be relatively movable to change the gap between the first and second finger parts; wherein the maximum gap between the first and second finger parts is configured to allow at least a part of the hook to pass therethrough. The application also discloses an article taking and placing assembly, method and system. The article taking and placing member and assembly provided by the application can be applied to a robot to realize automatic taking and placing of articles, and are especially suitable for taking and placing bagged articles with handles, and the article taking and placing member and assembly are simple in structure and convenient to produce and manufacture.

Description

Technical Field

[0001] This invention belongs to the field of mechanical technology, specifically relating to an item handling component, assembly, method, and system that can be applied to a robot for picking up and placing items. Background Technology

[0002] With the development of society and the economy, and the increasing influence of the internet, people's daily lives are very fast-paced, and their demands for convenience in food and daily life have also increased. To save more time for studying and working, more and more college students, business people, and others prefer online shopping and ordering food. This has led to a growing demand for delivery personnel for express delivery and food delivery. Some companies have developed delivery robots for these services, but existing robots have shortcomings in picking up and placing packages or food, especially bagged items like takeout, which they often cannot handle smoothly.

[0003] Therefore, in order to address the above-mentioned technical problems, it is necessary to provide an item picking and placing component, assembly, method, and system. Summary of the Invention

[0004] The purpose of this invention is to provide an item handling component, assembly, method, and system that can be applied to robot item handling, in order to solve the problems in the prior art.

[0005] To achieve the above objectives, the technical solution provided by the present invention is as follows: An item picking and placing component is used to cooperate with a hook to pick up and place an item. The item picking and placing component includes a first finger and a second finger disposed opposite to each other. The first finger and the second finger are configured to be movable relative to each other to change the gap between the first finger and the second finger. The maximum gap between the first finger and the second finger is configured to allow at least a portion of the hook to pass through it.

[0006] Furthermore, the article picking and placing component also includes a base, on which the first finger and the second finger are both disposed, and the first finger and / or the second finger are configured to be movable on the base.

[0007] Furthermore, the base is provided with a sliding groove, and the first finger and the second finger are both disposed in the sliding groove, and the first finger and / or the second finger can move along the direction defined by the sliding groove.

[0008] Furthermore, the item picking and placing component also includes a first slider and a second slider, both of which are matched with the slide groove. The first finger is mounted in the slide groove via the first slider, and the second finger is mounted in the slide groove via the second slider. Furthermore, the item picking and placing component also includes an elastic element connected between the first finger and the second finger and used to drive the first finger and the second finger closer to each other.

[0009] Furthermore, the front ends of the first finger and the second finger are respectively formed with upwardly curved and close to each other; the rear ends of the first finger and the second finger are respectively formed with sliding portions, and the first finger and the second finger are slidably installed in the groove through their respective sliding portions.

[0010] The present invention also provides an item picking and placing component, comprising: A hook has a support for hanging items; As described above, the first finger and the second finger of the item picking and placing component are close to each other in the first state, and are far apart from each other in the second state. In the second state, the support portion can pass between the first finger and the second finger.

[0011] Furthermore, the hook also has a first guide portion formed at the bottom of the support portion, the item picking member has a first guide surface formed at the top of the first finger and the second finger and used to engage with the first guide portion, and the support portion is configured to pass between the first finger and the second finger under the guidance of the first guide portion and the first guide surface; or, The hook also has a second guide portion formed on the top of the support portion, and the item pick-up and drop member also has a second guide surface formed on the bottom of the first finger and the second finger and cooperating with the second guide portion. The support portion is configured to pass between the first finger and the second finger under the guidance of the second guide portion and the second guide surface.

[0012] The present invention also provides a method for taking and placing items, the method comprising: Hang the item on the support of the hook; Move the first and second fingers of the item pick-up and place component below the support or move the support above the first and second fingers; The support portion passes from top to bottom between the first finger and the second finger, so that an item suspended on the support portion is transferred to the first finger and the second finger; Alternatively, the method may include: The item is suspended on the first and second fingers of the item pick-up and drop mechanism; Move the support portion of the hook below the first and second fingers or move the first and second fingers above the support portion; The support portion passes from bottom to top between the first finger and the second finger, so as to transfer the item suspended on the first finger and the second finger onto the support portion.

[0013] The present invention also provides an item retrieval and placement system, comprising: A locker, wherein the locker is equipped with the aforementioned item retrieval and placement components; Robots are used for delivering goods; Both the locker and the robot are equipped with hooks. The item retrieval and placement component is configured to retrieve items hanging on the hooks of the locker and place the retrieved items on the hooks of the robot.

[0014] Compared with the prior art, the item picking and placing component and assembly provided by the present invention can be applied to robots to realize the automatic picking and placing of items. The item picking and placing component and assembly are particularly suitable for picking and placing bagged items with handles. Moreover, the item picking and placing component and assembly have a simple structure and are easy to manufacture. Furthermore, when picking up items with strap handles such as plastic bags from the hook, the gap between the first finger and the second finger can be minimized by the relative movement of the first finger and the second finger, thereby facilitating the first finger and the second finger to extend into the gap defined by the strap handle from below the hook. When placing items with strap handles such as plastic bags onto the hook, the gap between the first finger and the second finger can be maximized by the relative movement of the first finger and the second finger, thereby facilitating the first finger and the second finger to pass the strap handle through the hook from above. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a three-dimensional structural diagram of the item retrieval and placement component in one state according to one embodiment; Figure 2 yes Figure 1 A three-dimensional structural diagram of the item picking and placing component in another state in the embodiment shown; Figure 3 yes Figure 1 A three-dimensional structural diagram of the hook in the illustrated embodiment; Figure 4yes Figure 1 Side view of the hook in the illustrated embodiment; Figure 5 yes Figure 1 A three-dimensional structural diagram of the item picking and placing component in the embodiment shown; Figure 6 yes Figure 1 The front view of the item picking and placing component in the embodiment shown; Figure 7 yes Figure 1 The diagram shows the structure of the item retrieval and placement component in an application scenario according to the embodiment shown. Figure 8 yes Figure 1 The illustrated embodiment shows a structural diagram of the item retrieval and placement component in another application scenario.

[0017] Explanation of reference numerals in the attached drawings: 1-Hook; 11-Base; 12-Support; 13-First guide; 14-Second guide; 2-Item picking and placing component; 21-First finger; 22-Second finger; 23-Base; 24-Elastic element; 25-Bending part; 26-First guide surface; 27-Second guide surface; 211-First slider; 221-Second slider; 231-Groove; 3-Takeout bag; 31-Handle. Detailed Implementation

[0018] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0019] It should be noted that when an element is described as "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. In the illustrated embodiments, the directional representations, i.e., up, down, left, right, front, and back, are relative and used to explain the relative structure and movement of different components in this application. These representations are appropriate when the components are in the positions shown in the figures. However, if the description of the component positions changes, then these representations are considered to change accordingly.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] Please refer to Figure 1 and Figure 2 As shown, in a preferred embodiment of the present invention, the item picking and placing component includes a hook 1 and an item picking and placing component 2. One of the hook 1 and the item picking and placing component 2 is used to suspend an item, and the other is used to perform the item picking and placing action. The hook 1 and the item picking and placing component 2 cooperate with each other to realize the picking and placing of items.

[0022] Please refer to Figure 3 and Figure 4 As shown, the hook 1 includes a base 11 and a support portion 12 disposed on the base 11 for hanging items. The front end of the support portion 12 is configured in a hook shape to prevent items hanging on the support portion 12 from slipping off.

[0023] Please refer to Figure 5 and Figure 6 As shown, the item handling component 2 includes a first finger 21 and a second finger 22 disposed opposite to each other. The first finger 21 and the second finger 22 are configured to be movable relative to each other to change the gap between the first finger 21 and the second finger 22, and the maximum gap between the first finger 21 and the second finger 22 is configured to at least allow the support portion 12 of the hook 1 to pass through it. For example, one of the first finger 21 and the second finger 22 can be configured to be movable, or both can be configured to be movable.

[0024] In the first state (natural state), the first finger 21 and the second finger 22 are close to each other, and the gap between them is minimal. In the second state, the first finger 21 and the second finger 22 are far apart from each other, and the gap between them allows the support portion 12 of the hook 1 to pass through.

[0025] In one exemplary embodiment, the item picking and placing component 2 further includes a base 23, on which the first finger 21 and the second finger 22 of the item picking and placing component 2 are both disposed, and at least one of the first finger 21 and the second finger 22 can move on the base 23.

[0026] Specifically, a groove 231 can be provided on the base 23, and the first finger 21 and the second finger 22 are both installed in the groove 231. At least one of the first finger 21 and the second finger 22 can slide along the direction defined by the groove 231 to change the size of the gap between the first finger 21 and the second finger 22.

[0027] Specifically, the item handling component 2 also includes a first slider 211 and a second slider 221, both of which are matched with the slide groove 231. The first finger 21 is slidably mounted in the slide groove 231 via the first slider 211, and the second finger 22 is slidably mounted in the slide groove 231 via the second slider 221, thereby allowing both the first finger 21 and the second finger 22 to slide along the direction defined by the slide groove 231.

[0028] In other embodiments, one of the first finger portion 21 and the second finger portion 22 may be fixed in the slide groove 231, and the other may be slidably installed in the slide groove 231.

[0029] In other embodiments, the first finger 21 and the second finger 22 can be hinged to the base 23, and the gap between them can be changed by rotating the first finger 21 and the second finger 22. Of course, other existing and known technical solutions can also be used to achieve relative movement of the first finger 21 and the second finger 22, thereby changing the gap between them.

[0030] In one exemplary embodiment, the item picking and placing component 2 further includes an elastic element 24 connected between the first finger 21 and the second finger 22 and used to drive the first finger 21 and the second finger 22 closer together. The elastic element 24 is configured to provide a pulling force that consistently drives the first finger 21 and the second finger 22 closer together. For example, the elastic element 24 can be disposed between the first slider 211 and the second slider 221, with its two ends respectively connected to the opposite sides of the first slider 211 and the second slider 221, thereby enabling the elastic element 24 to provide a pulling force that drives the first slider 211 and the second slider 221 closer together; in this case, the elastic element 24 can be an elastic body that can recover its deformation after stretching, such as a tension spring or a rubber elastomer.

[0031] Specifically, the middle part of the elastic member 24 is preferably fixed to the center of the slide groove 231 to prevent the first slider 211 and the second slider 221 in their natural state from sliding in the slide groove 231, thereby avoiding misalignment when the hook 1 and the item picking and placing component 2 cooperate to pick up and place items.

[0032] In other embodiments, two compression springs may be respectively provided on the opposite sides of the first slider 211 and the second slider 221, and the two compression springs provide the thrust that drives the first slider 211 and the second slider 221 to move closer to each other.

[0033] In one exemplary embodiment, the front ends of the first finger 21 and the second finger 22 are respectively formed with upwardly curved and closely spaced bends 25. These bends 25 are generally conical in shape, so that the maximum width of the front ends jointly defined by the first finger 21 and the second finger 22 in the first state is sufficiently small. This allows the front ends of the first finger 21 and the second finger 22 to easily extend into the gap defined by the handle when picking up or placing items with strap handles, such as plastic bags. The bends 25 also prevent items suspended on the first finger 21 and the second finger 22 from slipping off.

[0034] Specifically, sliding portions are formed at the rear ends of the first finger portion 21 and the second finger portion 22, and the first finger portion 21 and the second finger portion 22 are slidably installed in the slide groove 231 through their respective sliding portions.

[0035] In one exemplary embodiment, the hook 1 has a first guide portion 13 formed at the bottom of its support portion 12, the item pick-up and drop member 2 has a first guide surface 26 formed at the top of its first finger portion 21 and second finger portion 22 and for cooperating to receive the first guide portion 13, and the support portion 12 of the hook 1 is configured to pass between the first finger portion 21 and the second finger portion 22 under the guidance of the first guide portion 13 and the first guide surface 26.

[0036] Specifically, the outer contour of the first guide portion 13 of the hook 1 is generally conical, and the first guide surfaces 26 of the first finger portion 21 and the second finger portion 22 in the first state jointly define a V-shaped opening that matches the outer contour of the first guide portion 13. This V-shaped opening is used to receive the first guide portion 13 of the hook 1, so that when the hook 1 is driven to move in a predetermined direction, the first guide portion 13 can compress the first guide surface 26 to overcome the elastic force of the elastic member 24, and the first finger portion 21 and the second finger portion 22 can move away from each other to increase the gap between them, so that the support portion 12 of the hook 1 can pass between the first finger portion 21 and the second finger portion 22 under the guidance of the first guide portion 13 and the first guide surface 26.

[0037] In one exemplary embodiment, the hook 1 further has a second guide portion 14 formed on the top of its support portion 12, the item pick-up and drop member 2 has a second guide surface 27 formed on the bottom of its first finger portion 21 and second finger portion 22 and cooperating to receive the second guide portion 14, and the support portion 12 of the hook 1 is configured to pass between the first finger portion 21 and the second finger portion 22 under the guidance of the second guide portion 14 and the second guide surface 27.

[0038] Specifically, the second guide portion 14 of the hook 1 is formed on the top of the front end of the support portion 12. The second guide portion 14 is generally conical. The second guide surfaces of the first finger portion 21 and the second finger portion 22 in the first state jointly define a V-shaped opening that matches the outer contour of the second guide portion 14. The V-shaped opening is used to receive the second guide portion 14 of the hook 1 so that when the hook 1 is driven to move in a predetermined direction, the second guide portion 14 can compress the second guide surface 27 to overcome the elastic force of the elastic member 24, and make the first finger portion 21 and the second finger portion 22 move away from each other to increase the gap between them, so that the support portion 12 of the hook 1 can pass between the first finger portion 21 and the second finger portion 22 under the guidance of the second guide portion 14 and the second guide surface 27.

[0039] The present invention also provides a method for picking up and placing items, which can be implemented by the aforementioned item picking and placing component.

[0040] In one exemplary embodiment, the method for taking and placing items specifically includes: Hang the item on the support part 12 of hook 1; Move the first finger 21 and the second finger 22 of the item pick-up and place component 2 to below the support portion 12 or move the support portion 12 to above the first finger 21 and the second finger 22; The support portion 12 passes from top to bottom between the first finger portion 21 and the second finger portion 22, so that the item suspended on the support portion 12 is transferred to the first finger portion 21 and the second finger portion 22.

[0041] When the first finger 21 and the second finger 22 of the item picking and placing component 2 are moved below the support portion 12, the first guide portion 13 of the support portion 12 must be aligned with the V-shaped opening defined by the first guide surface 26 of the first finger 21 and the second finger 22; when the support portion 12 is moved above the first finger 21 and the second finger 22, the second guide portion 14 of the support portion 12 must be aligned with the V-shaped opening defined by the second guide surface 27 of the first finger 21 and the second finger 22.

[0042] In another exemplary embodiment, the method for taking and placing items specifically includes: The item is suspended on the first finger 21 and the second finger 22 of the item pick-up and drop component 2; Move the support portion 12 of the hook 1 below the first finger portion 21 and the second finger portion 22 or move the first finger portion 21 and the second finger portion 22 above the support portion 12; The support portion 12 passes from bottom to top between the first finger portion 21 and the second finger portion 22, so that the item hanging on the first finger portion 21 and the second finger portion 22 is transferred to the support portion 12 of the hook 1.

[0043] When the support portion 12 of the hook 1 is moved below the first finger portion 21 and the second finger portion 22, the second guide portion 14 of the support portion 12 must be aligned with the V-shaped opening defined by the second guide surface 27 of the first finger portion 21 and the second finger portion 22; when the first finger portion 21 and the second finger portion 22 are moved above the support portion 12, the first guide portion 13 of the support portion 12 must be aligned with the V-shaped opening defined by the first guide surface 26 of the first finger portion 21 and the second finger portion 22.

[0044] The present invention also provides an item retrieval and placement system, which includes a locker, a robot, and a hook 1 and an item retrieval and placement component 2 as described above. One of the hook 1 and the item retrieval and placement component 2 is installed in the locker for hanging items, and the other is installed on the robot's robotic arm for performing the action of retrieving and placing items.

[0045] The following description, using specific scenarios of picking up and placing takeout orders, further illustrates the item retrieval and placement system provided by this invention: In one exemplary embodiment, a hook 1 is installed in a locker as a component for hanging takeout food, and an item retrieval and placement component 2 is installed on the robot's robotic arm as a component for performing takeout retrieval and placement actions.

[0046] Please refer to Figure 7 As shown, in the process of the robot picking up takeout, the deliveryman first hangs the handle 31 of the takeout bag 3 on the support part 12 of the hook 1; then the robot moves the first finger 21 and the second finger 22 of the item picking and placing component 2 to below the support part 12 of the hook 1, and inserts the first finger 21 and the second finger 22 into the gap between the handle 31 of the takeout bag 3; then the robot drives the first finger 21 and the second finger 22 to move upward, so that the support part 12 of the hook 1 passes between the first finger 21 and the second finger 22, thereby transferring the takeout bag 3 hanging on the support part 12 to the first finger 21 and the second finger 22, thus completing the robot picking up takeout process.

[0047] Please refer to Figure 8 As shown, in the process of the robot delivering takeout, the delivery person first hangs the handle 31 of the takeout bag 3 on the first finger 21 and the second finger 22 of the item picking and placing component 2; then the robot moves the first finger 21 and the second finger 22 of the item picking and placing component 2 to above the support part 12 of the hook 1, and makes the support part 12 of the hook 1 extend into the gap between the handle 31 of the takeout bag 3; then the robot drives the first finger 21 and the second finger 22 to move downward, so that the support part 12 of the hook 1 passes between the first finger 21 and the second finger 22, thereby transferring the takeout bag 3 hanging on the first finger 21 and the second finger 22 to the support part 12 of the hook 1, thus completing the robot delivering takeout process.

[0048] In another exemplary embodiment, the item retrieval and placement component 2 is installed in the locker as a component for hanging takeout food, and the hook 1 is installed on the robot's robotic arm as a component for performing the takeout retrieval and placement actions. In this embodiment, the takeout retrieval and placement process is similar to that in the previous embodiments, and will not be described again here.

[0049] In another exemplary embodiment, the item retrieval system includes a locker, a robot, and an item retrieval component 2.

[0050] The robot is used for delivering items. The item retrieval and placement component 2 is located inside the locker, and hooks 1 are provided both inside the locker and on the robot. The item retrieval and placement component 2 is configured to retrieve items hanging on the hooks 1 of the locker, place the retrieved items on the hooks 1 of the robot, and then the robot delivers the items. The item retrieval and placement method in this embodiment is similar to that in the previous embodiments and will not be described again here.

[0051] In summary, the item picking and placing component and assembly provided by this invention can be applied to robots to realize the automatic picking and placing of items. This component and assembly is particularly suitable for picking and placing bagged items with handles. Furthermore, the component and assembly have a simple structure and are easy to manufacture. When picking up items with strap handles, such as plastic bags, from the hook, the relative movement of the first and second fingers can minimize the gap between them, facilitating their insertion from below the hook into the gap defined by the strap handle. When placing items with strap handles, such as plastic bags, onto the hook, the relative movement of the first and second fingers can maximize the gap between them, facilitating their passage through the hook from above.

[0052] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

[0053] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An article picking and placing component for cooperating with a hook (1) to pick up and place an article having a strap handle, the hook (1) having a second guide (14) formed at the top of its support portion (12), characterized in that, The item picking and placing component (2) includes a first finger (21) and a second finger (22) disposed opposite to each other. The first finger (21) and the second finger (22) are configured to be movable relative to each other to change the gap between the first finger (21) and the second finger (22); wherein the maximum gap between the first finger (21) and the second finger (22) is configured to allow at least a portion of the hook (1) to pass through it. It also includes a base (23), on which a groove (231) is provided. The first finger (21) and the second finger (22) are both disposed in the groove (231), and the first finger (21) and / or the second finger (22) can move along the direction defined by the groove (231) to change the size of the gap between the first finger 21 and the second finger 22. The front ends of the first finger (21) and the second finger (22) are respectively formed with upwardly curved and close to each other bending portions (25). The bending portions 25 are generally cone-shaped. The second guide surfaces (27) of the first finger (21) and the second finger (22) jointly define a V-shaped opening that matches the outer contour of the second guide portion (14) in the first state, so that the maximum width of the front end jointly defined by the first finger 21 and the second finger 22 in the first state is sufficiently small.

2. The article picking and placing component according to claim 1, characterized in that, The item picking and placing component (2) further includes a first slider (211) and a second slider (221). The first slider (211) and the second slider (221) are both matched with the slide groove (231). The first finger (21) is installed in the slide groove (231) through the first slider (211), and the second finger (22) is installed in the slide groove (231) through the second slider (221).

3. The article picking and placing component according to claim 2, characterized in that, The item picking and placing component (2) also includes an elastic element (24), which is connected between the first finger (21) and the second finger (22) and is used to drive the first finger (21) and the second finger (22) to move closer to each other.

4. The article picking and placing component according to claim 1, characterized in that, The rear ends of the first finger (21) and the second finger (22) are respectively formed with sliding portions, and the first finger (21) and the second finger (22) are slidably installed in the slide groove (231) through their respective sliding portions.

5. An item picking and placing component, characterized in that, include: The hook (1) has a support (12) for hanging items; the item pick-up and drop member (2) as described in any one of claims 1 to 4, wherein the first finger (21) and the second finger (22) of the item pick-up and drop member (2) are close to each other in a first state, and the first finger (21) and the second finger (22) are far apart from each other in a second state; wherein, in the second state, the support (12) can pass between the first finger (21) and the second finger (22).

6. The article picking and placing component according to claim 5, characterized in that, The hook (1) also has a first guide portion (13) formed at the bottom of the support portion (12), and the item pick-and-place member (2) has a first guide surface (26) formed at the top of the first finger (21) and the second finger (22) and used to cooperate with the first guide portion (13). The support portion (12) is configured to pass between the first finger (21) and the second finger (22) under the guidance of the first guide portion (13) and the first guide surface (26); or the hook (1) also has a second guide portion (14) formed at the top of the support portion (12), and the item pick-and-place member (2) also has a second guide surface (27) formed at the bottom of the first finger (21) and the second finger (22) and cooperate with the second guide portion (14). The support portion (12) is configured to pass between the first finger (21) and the second finger (22) under the guidance of the second guide portion (14) and the second guide surface (27).

7. A method for taking and placing items, characterized in that, The method includes: Hang the item on the support (12) of the hook (1); The first finger (21) and the second finger (22) of the article picking and placing member (2) as described in any one of claims 1 to 4 are moved to below the support (12) or the support is moved to above the first finger (21) and the second finger (22); the support (12) passes between the first finger (21) and the second finger (22) from top to bottom, so that the article suspended on the support (12) is transferred to the first finger (21) and the second finger (22); or, The method includes: Hang the item on the first finger (21) and the second finger (22) of the item pick-up and drop member (2); move the support (12) of the hook (1) below the first finger (21) and the second finger (22) or move the first finger (21) and the second finger (22) above the support (12); The support (12) is passed from bottom to top between the first finger (21) and the second finger (22) to transfer an item suspended on the first finger (21) and the second finger (22) onto the support (12).

8. An item retrieval and placement system, characterized in that, include: A locker, wherein the locker is provided with an item retrieval and placement component (2) as described in any one of claims 1 to 4; a robot for delivering items; wherein both the locker and the robot are provided with hooks (1), and the item retrieval and placement component (2) is configured to retrieve items suspended on the hooks (1) of the locker and place the retrieved items on the hooks (1) of the robot.

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