A shelving system and a method for storing and retrieving goods.

Abstract

This invention relates to the field of logistics technology and discloses a shelving system and a method for storing and retrieving goods. The shelving system includes a retrieval mechanism and a shelf body. The retrieval mechanism includes a base, a first drive unit, a support, a pushing unit, and a suction mechanism. The first drive unit is disposed on the base; the support is slidably disposed on the base, and the first drive unit is connected to the support; the pushing unit is connected to the end of the support and can swing up and down to approach items on the base or on the shelf; the suction mechanism includes a drive component, a first swing arm, a transmission component, a mounting part, and a suction part. The drive component is mounted on the support, one end of the first swing arm is connected to the drive component, and the drive component is used to drive the first swing arm to rotate; the mounting part is rotatably connected to the other end of the first swing arm, and the suction part is connected to the mounting part; the transmission component is connected to the mounting part and the support, and the transmission component is configured to drive the mounting part to rotate when the first swing arm rotates. This invention can realize the retrieval and placement of both large and small items.

Description

Technical Field

[0001] This invention relates to the field of logistics technology, and in particular to a shelving system and a method for storing and retrieving goods. Background Technology

[0002] With the rapid development of the e-commerce industry, Cainiao Stations, as express delivery outlets, have become key nodes in the logistics and distribution system, undertaking functions such as parcel collection, temporary storage, and pickup, and are characterized by large parcel volume and limited space.

[0003] Chinese patent application CN222203669U discloses a goods picking system for fixed shelves. The fixed shelves have storage compartments containing boxes. The goods picking system includes a movable base and a box-retrieving mechanism mounted on the movable base. The box-retrieving mechanism can remove and place the boxes into the storage compartments. The box-retrieving mechanism is either a suction cup mechanism or a fork-holding mechanism. However, both suction cup and fork-holding mechanisms can only handle larger boxes. When the boxes are small or the items to be retrieved are small, neither the suction cup mechanism nor the fork-holding mechanism can handle small items, thus limiting the shelf's ability to store items of various sizes.

[0004] Furthermore, when using suction cup mechanisms to adsorb items, for smaller items, the suction surface should not be too large. Otherwise, if the suction area exceeds the item's dimensions, the suction cup will not be able to cover the item, preventing the formation of an effective sealed vacuum environment. This can lead to air leakage, insufficient vacuum, and ultimately, the item will not be able to be adsorbed. Conversely, if a small suction cup is used, resulting in a small suction surface, the contact area between the small suction cup and larger items will be insufficient. Adsorbing larger items requires a strong suction force, which will concentrate the suction force on the small contact area between the suction cup and the item. This can cause stress concentration at the adsorption point on the item's surface, leading to deformation and damage. Summary of the Invention

[0005] The purpose of this invention is to provide a shelving system and a method for storing and retrieving goods, which can realize the retrieval and placement of both large and small items.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: One aspect of the present invention is to provide a shelving system having a first direction and a second direction perpendicular to each other, including a picking and placing mechanism and a shelving body. The picking and placing mechanism includes: Base; A first driving unit is disposed on the base; A bracket is slidably disposed on the base along the first direction, and the first driving part is connected to the bracket to drive the bracket to slide along the first direction; A pusher, connected to the end of the bracket, is capable of swinging up and down about the first direction to approach an item on the base or an item on the shelf; An adsorption mechanism includes a driving component, a first swing arm, a transmission component, a mounting part, and an adsorption part. The driving component is mounted on the bracket. One end of the first swing arm is connected to the driving component. The driving component is used to drive the first swing arm to rotate around a second direction. The mounting part is rotatably connected to the other end of the first swing arm, and the adsorption part is connected to the mounting part. The transmission component is connected to the mounting portion and the bracket, and the transmission component is configured to drive the mounting portion to rotate around the second direction when the first swing arm rotates.

[0007] In some embodiments, the transmission element includes: The mounting base is rotatably connected to the bracket, and the mounting base is spaced apart from the first swing arm; A guide rod is slidably inserted into the mounting base, with both ends of the guide rod extending out of the mounting base, and one end of the guide rod connected to the mounting part.

[0008] In some embodiments, the adsorption portion includes: The connecting body is connected to the mounting part; A first suction cup is fixed to the connecting body, and the first suction cup has a first suction surface; The second suction cup is fixed to the connecting body. The second suction cup has a second adsorption surface. The first adsorption surface and the second adsorption surface are set at an angle. When the first swing arm rotates around the second direction and along the first direction, the guide rod drives the mounting part to rotate around the second direction and counterclockwise, so that the first adsorption surface faces downward; when the first swing arm rotates around the second direction and in the opposite direction to the first direction, the guide rod drives the mounting part to rotate around the second direction and clockwise, so that the second adsorption surface faces downward.

[0009] In some embodiments, the mounting portion includes a rod body and a support portion disposed at one end of the rod body. The support portion is rotatably connected to the first swing arm, and the connecting body is connected to the rod body. The rod body has a square cross-sectional shape and includes a first surface and a second surface disposed adjacent to each other. The first adsorption surface is parallel to the first surface, and the second adsorption surface is disposed at an angle to the second surface.

[0010] In some embodiments, the adsorption mechanism further includes a distance sensor and a controller. The first suction cup and the second suction cup are both equipped with the distance sensor, which is used to monitor the distance between the first adsorption surface or the second adsorption surface and the surface of the object. The distance sensor and the driving component are both electrically connected to the controller.

[0011] In some embodiments, the adsorption mechanism further includes a second swing arm, which is spaced apart from the first swing arm along the second direction, and the second swing arm is rotatably connected to the bracket; the mounting portion is rotatably connected to the first swing arm and the second swing arm at both ends along the second direction, and one end of the mounting portion extends out of the first swing arm and is connected to the guide rod.

[0012] In some embodiments, the support includes: A first frame is slidably connected to the base, and the first frame is provided with a first guide wheel and a second guide wheel spaced apart along the first direction; the first drive unit is drivenly connected to the first frame. The second frame is slidably connected to the side of the first frame away from the base, and both the driving component and the transmission component are connected to the second frame; A telescopic synchronous belt is wound around the first guide wheel and the second guide wheel. The upper part of the telescopic synchronous belt is connected to the base, and the lower part of the telescopic synchronous belt is connected to the second frame.

[0013] In some embodiments, the pick-and-place mechanism further includes a conveying section disposed on the base, the conveying section being used to convey an article along the first direction, and the conveying section being spaced below the adsorption section.

[0014] In some embodiments, the base includes: seat body; A flip motor is connected to the base body; A rotating shaft is rotatably mounted on the base body, and the rotating shaft is connected to the flipping motor; A rotating base is connected to the rotating shaft, and the first driving part and the bracket are both located on the rotating base.

[0015] Another aspect of the present invention is to provide a method for storing and retrieving goods in a shelving system as described above, wherein the shelving body is provided in a plurality of manners, the plurality of shelving bodies are arranged along a first direction, each shelving body is provided with a plurality of compartments, and the picking and placing mechanism is provided between two adjacent shelving bodies; The cargo storage and retrieval method includes: Move the pick-and-place mechanism to a position opposite to the first target compartment of the rack body on one side of the pick-and-place mechanism; Along the first direction, rotate the first swing arm so that the first adsorption surface faces downward, adsorb the items on the base, and slide the bracket to transfer the adsorbed items to the first target compartment; or, slide the bracket along the first direction and rotate the first swing arm so that the first adsorption surface faces downward, adsorb the items in the first target compartment; and slide the bracket in the opposite direction of the first direction to transfer the adsorbed items to the base. Move the pick-and-place mechanism to a position opposite to the second target compartment of the rack body on the other side of the pick-and-place mechanism; In the opposite direction of the first direction, rotate the first swing arm so that the second adsorption surface faces downward, adsorb the items on the base, and slide the bracket to transfer the adsorbed items to the second target compartment; or, slide the bracket in the opposite direction of the first direction and rotate the first swing arm so that the first adsorption surface faces downward, adsorb the items in the second target compartment; and slide the bracket in the first direction to transfer the adsorbed items to the base.

[0016] Compared with the prior art, the shelf system and goods storage and retrieval method of this invention have the following advantages: The shelving system of this invention includes a pushing unit and a suction mechanism installed on the support frame. When the items to be retrieved are large, the pushing unit pushes the items from the frame body to the base or pushes the items from the base onto the frame body. When the items to be retrieved are small, the suction mechanism suctions the items from the frame body to the base or suctions the items from the base onto the frame body. This avoids the pushing unit being unable to contact the items when they are small, and also avoids the suction mechanism being ineffective when the items are large. Therefore, the retrieval mechanism can be adapted to retrieve and place items of various sizes, expanding the applicability of the shelving system.

[0017] Furthermore, the pick-and-place mechanism includes a base, a first drive unit, a support, and an adsorption mechanism. By sliding the support along the base, the position of the adsorption mechanism in the first direction can be adjusted so that the adsorption mechanism is closer to or further away from the frame body, facilitating the transfer of items between the base and the frame body via the adsorption mechanism.

[0018] The adsorption mechanism drives the first swing arm to swing via a drive component, adjusting the position of the adsorption unit; and drives the mounting unit to rotate via a transmission component, adjusting the orientation of the adsorption surface of the adsorption unit. On one hand, the adjustable position of the adsorption unit allows it to adsorb items located on both sides. Combined with the sliding of the bracket along the base, the adsorption unit can transfer items from the base to the rack bodies on both sides of the retrieval mechanism or retrieve items from the rack bodies on both sides of the retrieval mechanism onto the base. This facilitates the retrieval mechanism in storing or retrieving items from the rack bodies on both sides according to usage needs, improving the efficiency of item storage and retrieval. On the other hand, the adjustable orientation of the adsorption surface allows the adsorption unit to face downwards when adsorbing items, facilitating tight adsorption and ensuring stable adsorption. Furthermore, it is applicable to rack bodies with open sides along the first direction, preventing items from being pushed out of the rack body and falling when the adsorption unit adsorbs and presses them. It also eliminates the need for one side of the rack to be against a wall or enclosed, expanding the applicability of the rack body. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the shelving system described in an embodiment of the present invention; Figure 2 This is a schematic diagram of the picking and placing mechanism in an embodiment of the present invention; Figure 3 This is a schematic diagram of the adsorption state of the pick-and-place mechanism in an embodiment of the present invention; Figure 4 This is a schematic diagram of the adsorption mechanism in an embodiment of the present invention; Figure 5 This is a schematic diagram showing the connection between the adsorption part and the mounting part in an embodiment of the present invention; Figure 6 This is a top view of the first driving unit and the bracket on the base in an embodiment of the present invention; Figure 7 yes Figure 6 Partial sectional view along line AA; Figure 8 This is a schematic diagram of the base in an embodiment of the present invention; Figure 9 This is an exploded view of the bracket in an embodiment of the present invention.

[0020] Numbering on the map: 1000, Shelves 100. Frame body; 200. Drive mechanism; 210. X-axis; 220. Z-axis; 300. Picking and placing mechanism. 10. Base; 11. Seat body; 12. Tilting motor; 13. Rotating shaft; 14. Rotating seat; 141. First guide rail. 20. First drive unit; 21. First drive motor; 22. Drive shaft; 23. Drive gear; 24. Drive rack. 30. Bracket; 301. Connecting frame; 31. First frame body; 311. First guide wheel; 312. Second guide wheel; 313. First slider; 314. Second guide rail; 32. Second frame body; 321. Second slider; 33. Telescopic synchronous belt; 331. Upper belt body; 332. Lower belt body; 333. First connector; 334. Second connector. 40. Adsorption mechanism; 41. Driving component; 42. First swing arm; 421. Second swing arm; 43. Transmission component; 431. Mounting base; 432. Guide rod; 44. Mounting part; 441. Rod body; 4411. First surface; 4412. Second surface; 442. Support part; 45. Adsorption part; 451. Connecting body; 452. First suction cup; 4521. First adsorption surface; 453. Second suction cup; 4531. Second adsorption surface. 50. Conveying Department 60. Jacking section, 70. Second drive unit, Y, first direction; X, second direction; Z, third direction. Detailed Implementation

[0021] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0024] See Figure 1As shown, this embodiment of the invention provides a shelving system having two perpendicular directions: a first direction Y, a second direction X, and a third direction Z. The shelving system includes a shelving 1000, which includes a shelving body 100, a drive mechanism 200, and a pick-and-place mechanism 300. The shelving body 100 has multiple storage compartments for placing items. The drive mechanism 200 is located on one side of the shelving body 100 along the first direction Y. The pick-and-place mechanism 300 is connected to the drive mechanism 200. The drive mechanism 200 can drive the pick-and-place mechanism 300 to move to a position opposite any storage compartment of the shelving body 100 along the first direction Y. The pick-and-place mechanism 300 is used to transfer items into the storage compartment or transfer items out of the storage compartment.

[0025] Multiple shelves 1000 are arranged along a first direction Y. Each shelf 1000 has multiple storage compartments on its main body 100. A retrieval mechanism 300 is provided on the same side of each shelf 1000 along the first direction Y. The retrieval mechanism 300 located between adjacent shelf bodies 100 can be used to load and unload goods from the storage compartments on both sides of the shelf body 100, improving the efficiency of goods storage and retrieval. Furthermore, no manual entry is required between shelf bodies 100 to retrieve or place items, thus eliminating the need for excessive space between adjacent shelf bodies 100 and improving the utilization of space.

[0026] In some embodiments, the shelf body 100 is rectangular in shape. The first direction Y refers to the width direction of the shelf body 100, the second direction X refers to the length direction of the shelf body 100, and the third direction Z refers to the height direction of the shelf body 100. The shelf body 100 includes a frame and multiple shelves disposed on the frame. The shelves are used to place items, and the multiple shelves are spaced apart along the third direction Z. The drive mechanism 200 is connected to the frame.

[0027] See Figure 1 As shown, the drive mechanism 200 is a dual-axis movement mechanism, specifically an XZ dual-axis movement mechanism, capable of movement along the second direction X and the third direction Z. The structure of the dual-axis movement mechanism is existing technology and will not be described in detail here. For example, the dual-axis movement mechanism includes an X-axis 210, an X-axis sliding seat, a Z-axis 220, and a Z-axis sliding seat. The X-axis 210 extends along the second direction X, and the X-axis sliding seat is guided and engaged with the X-axis 210. The Z-axis 220 extends along the third direction Z and is perpendicular to the X-axis 210. The Z-axis 220 is connected to the X-axis sliding seat, and the Z-axis sliding seat is guided and engaged with the Z-axis 220. The pick-and-place mechanism 300 is connected to the Z-axis sliding seat. By sliding the X-axis sliding seat along the X-axis 210 and the Z-axis sliding seat along the Z-axis 220, the pick-and-place mechanism 300 can move along the second direction X and the third direction Z, thereby facilitating the transfer of items into and out of the rack body 100. It should be noted that the sliding of both the X-axis sliding block and the Z-axis sliding block can be driven by a motor.

[0028] See Figure 1-2 As shown, the pick-and-place mechanism 300 includes a base 10, a first driving part 20, a bracket 30, an adsorption mechanism 40, and a pushing part 60. The base 10 has an item storage area; the first driving part 20 is disposed on the base 10; the bracket 30 is slidably disposed on the base 10 along the first direction Y, and the first driving part 20 is connected to the bracket 30 to drive the bracket 30 to slide along the first direction Y. The pushing part 60 is connected to the end of the bracket 30, and the pushing part 60 can swing up and down around the first direction Y to approach the item on the base 10 or the item on the main body 100.

[0029] By sliding the bracket 30 along the base 10, the positions of the adsorption mechanism 40 and the pushing part 60 in the first direction Y can be adjusted, allowing the adsorption mechanism 40 and the pushing part 60 to move closer to or further away from the shelves of the shelf body 100, facilitating the transfer of items between the base 10 and the shelf body 100 via the adsorption mechanism 40 and the pushing part 60. The first driving part 20 can drive the bracket 30 to slide bidirectionally along the first direction Y, allowing the bracket 30 to partially extend into the shelves of both sides of the shelf body 100, enabling the adsorption mechanism 40 and the pushing part 60 to pick up and place items on both adjacent shelf bodies 100.

[0030] When the items to be retrieved or placed are large, the pushing part 60 pushes the items on the rack body 100 onto the base 10, or pushes the items on the base 10 onto the rack body 100. When the items to be retrieved or placed are small, the suction mechanism 40 suctions the items on the rack body 100 onto the base 10, or suctions the items on the base 10 onto the rack body 100. This avoids the pushing part 60 being unable to contact the items when they are small, and also avoids the suction mechanism 40 having poor suction effect when the items are large. Therefore, the retrieval and placement mechanism 300 can be adapted to the retrieval and placement of items of various sizes, expanding the applicability of the rack.

[0031] See Figures 2-5 As shown, the adsorption mechanism 40 includes a driving member 41, a first swing arm 42, a transmission member 43, a mounting part 44, and an adsorption part 45. The driving member 41 is mounted on the bracket 30. One end of the first swing arm 42 is connected to the driving member 41, and the driving member 41 drives the first swing arm 42 to rotate around the second direction X. The mounting part 44 is rotatably connected to the other end of the first swing arm 42, and the adsorption part 45 is connected to the mounting part 44. The transmission member 43 is connected to the mounting part 44 and the bracket 30. The transmission member 43 is configured to drive the mounting part 44 to rotate around the second direction X when the first swing arm 42 rotates, so as to adjust the orientation of the adsorption surface of the adsorption part 45. The mounting part 44 extends along the second direction X, and the rotation axis of the mounting part 44 is parallel to the second direction X.

[0032] On the one hand, the position of the adsorption part 45 is adjustable, allowing it to adsorb items located on both sides of the adsorption part 45. Combined with the sliding of the bracket 30 along the base 10, the adsorption part 45 can transfer items on the base 10 to the shelf bodies 100 on both sides of the pick-and-place mechanism 300 or retrieve items from the shelf bodies 100 on both sides of the pick-and-place mechanism 300 onto the base 10. This facilitates the pick-and-place mechanism 300 to store or retrieve items from the shelf bodies 100 on both sides according to usage needs, improving the efficiency of item storage and retrieval. On the other hand, the orientation of the adsorption surface is adjustable, so that when the adsorption part 45 adsorbs items, the adsorption surface faces downward, facilitating the pressing and adsorption of items and ensuring stable adsorption. Moreover, it is applicable to shelf bodies 100 that are open on both sides along the first direction Y, preventing items from being pushed out of the shelf body 100 and falling when the adsorption part 45 adsorbs and presses the items. It also eliminates the need for one side of the shelf body 100 to be against a wall or closed, expanding the applicability of the shelf body 100.

[0033] In some embodiments, the drive element 41 is a motor. One end of the first swing arm 42 is connected to the power output shaft of the motor via a gear transmission structure.

[0034] See Figure 2 and Figure 3 As shown, the pushing part 60 is rotatably mounted at both ends of the bracket 30 along the first direction Y. When the pushing part 60 pushes the item on the base 10 to the shelf body 100, at least the pushing part 60 located at the end away from the shelf body 100 rotates out of the bracket 30 and is positioned above the base 10. As the pushing part 60 slides with the bracket 30, it pushes the item onto the shelf body 100. When retrieving an item, the bracket 30 slides into the shelf compartment along the first direction Y. At least the pushing part 60 located at the end away from the base 10 rotates out of the bracket 30 and is positioned above the shelf compartment. As the pushing part 60 slides in the opposite direction along the first direction Y with the bracket 30, it pushes the item onto the base 10.

[0035] Pushing portions 60 are provided on both sides of the support along the second direction X. To maximize the pushing range and length of the pushing portions 60, when the pushing portions 60 rotate out of the support 30 and are parallel to the second direction X, the relative lengths of the ends of the pushing portions 60 on both sides of the second direction X represent the maximum length the pushing portions 60 can apply. Otherwise, the pushing portions 60 on both sides will interfere with each other during rotation. In this state, although the pushing portions 60 are relatively long, they can only be relative to each other when they are parallel to the second direction X during rotation. If this state is not achieved, a large gap will exist between the pushing portions 60 on both sides. If the width of the item along the second direction X is smaller than this gap, and the height along the third direction Z is smaller than the height of the pushing portion 60 in this state, the pushing portion 60 will be unable to contact the item. In this case, the present invention can use the adsorption mechanism 40 to adsorb small-sized items, compensating for the inadequacy of the pushing portions 60.

[0036] Furthermore, when the items are large, using the pusher 60 to push the items can prevent the suction mechanism 40 from using a suction cup with a large suction surface, which would prevent it from being unable to suction small items. It can also prevent the suction mechanism 40 from using strong suction to suction items, which would cause stress concentration on the surface of the items and result in deformation and damage.

[0037] See Figure 2 and Figure 3 As shown, the pick-and-place mechanism 300 also includes a second drive unit 70, which is mounted on the bracket 30 and connected to the pusher 60 to drive the pusher 60 to rotate. The second drive unit 70 is a DC motor.

[0038] See Figures 2-4 As shown, in some embodiments, the transmission component 43 includes a mounting base 431 and a guide rod 432. The mounting base 431 is rotatably connected to the bracket 30 and is spaced apart from the first swing arm 42, with the mounting base 431 positioned above the first swing arm 42. The guide rod 432 is slidably inserted into the mounting base 431, with both ends of the guide rod 432 extending out of the mounting base 431, and one end of the guide rod 432 connected to the mounting portion 44. When the driving component 41 drives the first swing arm 42 to rotate, the first swing arm 42 drives the guide rod 432 to slide along the mounting base 431, causing the mounting base 431 to rotate relative to the bracket 30, thus changing the distance between the end of the guide rod 432 connected to the mounting portion 44 and the mounting base 431, thereby causing the guide rod 432 to drive the mounting portion 44 to rotate. With this configuration, on the one hand, the driving component 41, as a single power source, can provide power for the rotation of the first swing arm 42 and the mounting portion 44, saving a motor and reducing energy consumption. On the other hand, the guide rod 432, the first swing arm 42, and the bracket 30 form a triangular support structure, making the connection structure more stable. This makes the mounting part 44 more stable as it rotates with the first swing arm 42 and as it rotates on its own, thus making the adsorption part 45 more stable in adsorbing items. The mounting base 431 includes a base body and a bearing fixed in the base body. The base body is rotatably connected to the bracket 30, and the guide rod 432 is slidably inserted into the bearing.

[0039] In some embodiments, the bracket 30 is fixed with the connecting frame 301, the mounting base 431 is rotatably connected to the connecting frame 301, and the driving component 41 is mounted on the connecting frame 301.

[0040] See Figures 2-5As shown, the adsorption part 45 includes a connecting body 451, a first suction cup 452, and a second suction cup 453. The connecting body 451 is connected to the mounting part 44. The first suction cup 452 is fixed to the connecting body 451 and has a first adsorption surface 4521. The second suction cup 453 is fixed to the connecting body 451 and has a second adsorption surface 4531. The first adsorption surface 4521 and the second adsorption surface 4531 are arranged at an angle. When the first swing arm 42 swings around the second direction X and along the first direction Y, the guide rod 432 drives the mounting part 44 to rotate around the second direction X and counterclockwise, so that the first adsorption surface 4521 faces downward, and the first suction cup 452 adsorbs and fixes the item. (See reference...) Figure 3 When the first swing arm 42 rotates around the second direction X and in the opposite direction of the first direction Y, the guide rod 432 drives the mounting part 44 to rotate around the second direction X and clockwise, so that the second adsorption surface 4531 faces downward, and the second suction cup 453 adsorbs and fixes the item. In this way, the first swing arm 42 can swing around the second direction X at any time, and the downward-facing suction cup can adsorb and fix the item. This makes it convenient for the adsorption mechanism 40 to pick up and put down the items on the two sides of the frame body 100, and ensures stable adsorption. It also prevents the adsorption part 45 from pushing the item out of the frame body 100 and causing the item to fall when it adsorbs and presses the item. For example, when the first swing arm 42 rotates along the first direction Y, it cooperates with the bracket 30 to slide along the first direction Y into the compartment of one side of the shelf body 100. The first suction cup 452 can then remove items from that side of the shelf body 100, ensuring stable suction. When the first swing arm 42 swings in the opposite direction Y, it cooperates with the bracket 30 to slide in the opposite direction Y into the compartment of the other side of the shelf body 100. The second suction cup 453 can then remove items from the other side of the shelf body 100, ensuring stable suction. Furthermore, if one end of the compartment of the shelf body 100 is closed, when the first swing arm 42 swings along the first direction Y, the first suction surface 4521 faces downwards, and the second suction surface 4531 is set at an angle to the first suction surface 4521. In this case, depending on the tilt angle of the item's surface, the second suction cup 453 can also be used to suction and fix the item. Similarly, when the first swing arm 42 swings in the opposite direction Y, the first suction cup 452 can also be used to suction and fix the item.

[0041] It should be noted that both the first suction cup 452 and the second suction cup 453 are connected to a negative pressure suction device, such as a vacuum generator or a vacuum pump. This invention will not be described in detail.

[0042] To ensure the stability of the mounting portion 44 and the adsorption portion 45 during rotation and rotation with the first swing arm 42, the adsorption mechanism 40 further includes a second swing arm 421. The second swing arm 421 is spaced apart from the first swing arm 42 along the second direction X. The first swing arm 42 is connected to the drive member 41 and rotatably connected to the bracket 30. The two ends of the mounting portion 44 along the second direction X are rotatably connected to the first swing arm 42 and the second swing arm 421, respectively. One end of the mounting portion 44 extends out of the first swing arm 42 and is connected to the guide rod 432. The mounting portion 44 can be driven to rotate using a single guide rod 432. When the first swing arm 42 rotates, the second swing arm 421 rotates synchronously through the mounting portion 44.

[0043] See Figures 2-5 As shown, the mounting part 44 includes a rod body 441 and support parts 442 located at both ends of the rod body 441. The two support parts 442 are rotatably connected to the first swing arm 42 and the second swing arm 421, respectively. The connecting body 451 is connected to the rod body 441. The rod body 441 extends along the second direction X. The cross-sectional shape of the rod body 441 is square. The rod body 441 includes a first surface 4411 and a second surface 4412 arranged adjacent to each other. The first suction surface 4521 is arranged parallel to the first surface 4411, and the second suction surface 4531 is arranged at an angle to the second surface 4412. This not only facilitates the fixed connection between the connecting body 451 and the rod body 441 and prevents the connecting body 451 from rotating relative to the rod body 441, but also allows for easy observation of the position of the first suction cup 452 and the second suction cup 453 by observing the position of the first surface 4411 and the second surface 4412. Two support portions 442 are rotatably mounted on the first swing arm 42 and the second swing arm 421, respectively, and one of the support portions 442 is connected to the guide rod 432. Optionally, the support portion 442 connected to the guide rod 432 and the drive member 41 are located on the same side of the rod body 441 along the second direction X, which facilitates the installation of the guide rod 432 and the drive member 41.

[0044] In some embodiments, multiple adsorption portions 45 are provided, and the multiple adsorption portions 45 are spaced apart along the extension direction of the mounting portion 44, which facilitates determining the number and position of the selected adsorption portions 45 according to the specifications of the item, ensuring stable adsorption of the item. It should be noted that the extension direction of the mounting portion 44 is the same as the extension direction of the rod body 441, and is parallel to the second direction X.

[0045] In some embodiments, the adsorption mechanism 40 further includes a distance sensor and a controller. Both the first suction cup 452 and the second suction cup 453 are equipped with distance sensors, which monitor the distance between the first adsorption surface 4521 or the second adsorption surface 4531 and the surface of the object. The distance sensors and the drive unit 41 are electrically connected to the controller. Based on the monitoring signal from the distance sensor, the controller controls the operation of the drive unit 41 so that when the first swing arm 42 stops rotating, the first adsorption surface 4521 or the second adsorption surface 4531 contacts the object. This ensures that when picking up or placing objects of different heights, the first swing arm 42 can always position the first suction cup 452 or the second suction cup 453 at a position where it can adsorb the object, preventing the suction cup from being too far away and unable to adsorb the object, and also preventing the suction cup from being too close and causing crushing damage to the object. This eliminates the need for repeated adjustments to the suction cup position.

[0046] See Figures 6-9 As shown, in some embodiments, the support 30 includes a first frame 31, a second frame 32, and a telescopic synchronous belt 33. The first frame 31 is slidably connected to the base 10. The first frame 31 is provided with a first guide wheel 311 and a second guide wheel 312 spaced apart along a first direction Y. A first drive unit 20 is connected to the first frame 31 to drive the first frame 31 to slide along the first direction Y. The second frame 32 is slidably connected to the side of the first frame 31 away from the base 10. A drive member 41 and a transmission member 43 are both connected to the second frame 32. The telescopic synchronous belt 33 is wound around the first guide wheel 311 and the second guide wheel 312. The upper belt body 331 of the telescopic synchronous belt 33 is connected to the base 10, and the lower belt body 332 of the telescopic synchronous belt 33 is connected to the second frame 32. The first drive unit 20 drives the first frame 31 to slide along the first direction Y, and the telescopic synchronous belt 33 causes the second frame 32 to slide synchronously with the first frame 31. This configuration ensures the synchronization of the telescopic sliding of the first frame 31 and the second frame 32, and reduces the space occupied by the support 30 while increasing the sliding stroke of the support 30.

[0047] It should be noted that the first frame 31 and the base 10, and the second frame 32 and the first frame 31, can all be slidably connected via a guide rail and slider structure. For example, the base 10 is equipped with a first guide rail 141, the first frame 31 is equipped with a first slider 313, the first frame 31 is equipped with a second guide rail 314, and the second frame 32 is equipped with a second slider 321. The upper belt body 331 of the telescopic synchronous belt 33 can be directly connected to the base 10, or indirectly connected via a first connecting member 333. The lower belt body 332 of the telescopic synchronous belt 33 can be directly connected to the second frame 32, or indirectly connected via a second connecting member 334.

[0048] See Figures 6-9As shown, in some embodiments, the first drive unit 20 includes a first drive motor 21, a drive shaft 22, a drive gear 23, and a drive rack 24. The first drive motor 21 is mounted on the base 10 and fixedly connected to the base 10. One end of the drive shaft 22 is connected to the first drive motor 21, and the other end is connected to the drive gear 23. The drive rack 24 is mounted on the first frame 31 and meshes with the drive gear 23. The first drive motor 21 drives the drive shaft 22 to rotate, which in turn drives the drive gear 23 to rotate, causing the drive rack 24 to move along the first direction Y. This configuration is compact, easy to arrange, and provides precise transmission. Compared to synchronous belts, chains, and other transmission structures, the gear and rack transmission structure is less prone to deformation. The first drive motor 21 is a stepper motor. In some embodiments, the transmission rack 24 extends along the first direction Y. In the initial state, the transmission gear 23 is located in the middle of the transmission rack 24. This arrangement allows the transmission rack 24 to move bidirectionally along the first direction Y, so that the bracket 30 can extend into the storage compartments of two adjacent frame bodies 100.

[0049] See Figure 2 As shown, the pick-and-place mechanism 300 also includes a conveying section 50, which is located on the base 10. The conveying section 50 is used to convey items along the first direction Y, and is spaced below the adsorption section 45. The item storage area is located in the conveying section 50. The conveying section 50 is a conveyor belt structure. The conveying section 50 provides power for the item conveying. By cooperating with the pushing section 60, the conveying section 50 transfers items between the pick-and-place mechanism 300 and the frame body 100, reducing the pushing force of the pushing section 60 and avoiding problems such as bending and deformation of the pushing section 60 due to the inability to continuously push due to the weight of the items. The conveying section 50 can also be used in conjunction with the adsorption mechanism 40. The adsorption mechanism 40 adsorbs items onto the conveying section 50, and the conveying section 50 moves the items to the middle area of ​​the conveying section 50, reducing the usage time of the adsorption section 45.

[0050] The conveying unit 50, the pushing unit 60, and the adsorption mechanism 40 work together to make the pick-and-place mechanism 300 suitable for picking up and placing items of different sizes and package types. When the item is packaged in a bag, since bag structures are usually relatively flat, the adsorption mechanism 40 is used preferentially for adsorption and placement. When the item is packaged in a box or carton, the pushing unit 60 is used preferentially for pushing and placing. It should be noted that when the item is packaged in a box or carton, but the item height is small enough that the pushing unit 60 cannot reach the item after extending, the adsorption mechanism 40 can also be used to transfer the item. When the item is packaged in a bag, but the item size is large, the pushing unit 60 can also be used in conjunction with the conveying unit 50 to transfer the item.

[0051] The conveying unit 50 has supports 30 on both sides along the second direction X. Each first frame 31 has a transmission rack 24, each transmission rack 24 is engaged with a transmission gear 23, each transmission gear 23 is connected to a transmission shaft 22, and each transmission shaft 22 is connected to a first drive motor 21. Using the first drive motor 21 as a single power source, the synchronous sliding of the supports 30 on both sides is ensured through the cooperation of the transmission shaft 22, transmission gear 23, and transmission rack 24. This facilitates the installation of pushing parts 60 on both sides of the supports 30, improving the balance of the pushing force applied to the items, and ensuring that both ends of the mounting part 44 have fixed carriers, allowing the two ends of the mounting part 44 to move synchronously and preventing the mounting part 44 from tilting.

[0052] In order to increase the contact friction between the pushing part 60 and the item, prevent slippage and misalignment, and ensure stable and reliable pushing operation, the side of the pushing part 60 used to push the item is provided with anti-slip texture.

[0053] See Figure 2 and Figure 8 As shown, in some embodiments, the base 10 includes a base body 11, a flip motor 12, a rotating shaft 13, and a rotating seat 14. The base body 11 is connected to the drive mechanism 200, specifically to a Z-axis sliding seat. The flip motor 12 is connected to the base body 11 and is a stepper motor. The rotating shaft 13 is rotatably mounted on the base body 11 and is connected to the flip motor 12. The rotating seat 14 is connected to the rotating shaft 13, and the first drive unit 20 and the bracket 30 are both located on the rotating seat 14. The flip motor 12 drives the rotating shaft 13 to rotate, which in turn drives the rotating seat 14 to rotate, thereby causing the first drive unit 20 and the bracket 30 to rotate, facilitating the unloading of items taken from the storage compartment by the retrieval mechanism 300.

[0054] In some embodiments, the dual-axis moving mechanism, the conveying unit 50, the first driving unit 20, the driving member 41, and the second driving unit 70 are all electrically connected to the controller to facilitate intelligent picking and placing of items.

[0055] The present invention also provides a method for storing and retrieving goods, comprising: Move the picking and placing mechanism 300 to a position opposite to the first target storage compartment on one side of the main frame 100 of the picking and placing mechanism 300; Along the first direction Y, the first swing arm 42 is rotated so that the first adsorption surface 4521 faces downward, adsorbing the items on the base 10, and the sliding bracket 30 is used to transfer the adsorbed items to the first target compartment; or, the bracket is slid along the first direction and the first swing arm is rotated so that the first adsorption surface faces downward, adsorbing the items in the first target compartment; and the bracket 30 is slid in the opposite direction of the first direction Y to transfer the adsorbed items to the base 10; when the first adsorption surface 4521 adsorbs the items, the adsorption part 45 moves along the first direction Y with the bracket 30, which can realize the transfer of items between the first target compartment and the base 10; Move the pick-and-place mechanism 300 to a position opposite to the second target compartment of the frame body 100 on the other side of the pick-and-place mechanism 300; In the opposite direction of the first direction Y, the first swing arm 42 is rotated so that the second adsorption surface 4531 faces downward, adsorbing items on the base 10, and the sliding bracket 30 transfers the adsorbed items to the second target compartment; or, in the opposite direction of the first direction Y, the bracket 30 is slid and the first swing arm 42 is rotated so that the first adsorption surface 4521 faces downward, adsorbing items in the second target compartment; and the bracket 30 is slid along the first direction Y to transfer the adsorbed items to the base 10. When the second adsorption surface 4531 adsorbs items, the adsorption part 45 moves with the bracket 30, which can realize the transfer of items between the second target compartment and the base 10.

[0056] This allows the invention to use the same loading and unloading mechanism 300 to store and retrieve items from both sides of the shelf body 100, reducing structural configuration and eliminating the need for extensive space between adjacent shelf bodies 100, thus improving space utilization. Furthermore, each time an item is picked up, the adsorption surface faces downwards, facilitating tight adsorption and ensuring stable adsorption. Moreover, it is applicable to shelf bodies 100 with open sides along the first direction Y, preventing items from being pushed out of the shelf body 100 and falling when the adsorption part 45 adsorbs and presses the item. It also eliminates the need for one side of the shelf body 100 to be against a wall or enclosed, expanding the applicability of the shelf body 100.

[0057] It should be noted that the movement of the pick-and-place mechanism 300 can be achieved by driving the drive mechanism 200.

[0058] It should be noted that when the first adsorption surface 4521 adsorbs an item on the base 10, in order to ensure that the first adsorption surface 4521 is in contact with the item, the position of the first adsorption surface 4521 along the first direction Y can be adjusted by sliding the bracket 30 away from the first target compartment. When the second adsorption surface 4531 adsorbs an item on the base 10, the position of the second adsorption surface 4531 along the first direction Y can also be adjusted by sliding the bracket 30 away from the second target compartment.

[0059] To ensure that the adsorption unit 45 can adsorb items in the storage compartment when the adsorption mechanism 40 enters the compartment of the shelf body 100 along with the support 30, the goods storage and retrieval method also includes a stroke control step for the support 30. Specifically, the sliding stroke of the first shelf body 31 along the first direction Y is controlled to be S, where S satisfies: Wherein, L1 represents the length of the first frame 31 along the first direction Y, L2 represents the length of the second frame 32 along the first direction Y, and L3 represents the length of the first swing arm 42.

[0060] Where L1 / 2 < L2 < L1.

[0061] This allows the first swing arm 42 to swing so that when the first suction surface 4521 or the second suction surface 4531 faces downward after the bracket 30 enters the compartment, it can adsorb items located in the middle area of ​​the compartment, thus preventing the first suction cup 452 or the second suction cup 453 from being located on the front or back of the compartment and making it difficult to adsorb items in the middle area.

[0062] It should be noted that the sliding stroke of the first frame 31 is a single-stroke stroke of the first frame 31 extending into one side of the frame body 100. The sliding stroke of the first frame 31 can be controlled by controlling the number of rotations of the first drive motor 21.

[0063] In some embodiments, the goods storage and retrieval method further includes: Identify item specifications; item specifications include the item's length, width, and height.

[0064] Depending on the item's specifications, the item is transferred between the shelf body 100 and the pick-and-place mechanism 300 by either adsorbing it using the adsorption mechanism 40 or pushing it using the pushing part 60. Specifically, when the item is small, it is transferred by adsorbing it using the adsorption mechanism 40; when the item is large, it is transferred by the pushing part 60 in conjunction with the conveying part 50. "Smaller specifications" refers to any one of the item's length, width, or height being less than a corresponding first preset threshold, where the first preset thresholds for length, width, and height can be different. "Larger specifications" refers to any one of the item's length, width, or height being greater than a corresponding second preset threshold, where the second preset thresholds for length, width, and height can be different. The first preset threshold is determined based on the position and dimensions of the pushing part 60. The second preset threshold is determined based on the position and dimensions of the adsorption mechanism 40, etc.

[0065] In some embodiments, the shelving system further includes an identification module and an analysis module. The identification module is used to identify item information, including item specifications. The analysis module is used to analyze the item information identified by the identification module. Both the identification module and the analysis module are electrically connected to the controller. The controller controls the adsorption mechanism 40 to work or controls the pushing part 60 to work based on the analysis results of the analysis module.

[0066] Taking the retrieval and placement mechanism 300 retrieving and placing items in the first target compartment as an example, the working process of the present invention is further explained as follows: When placing an item, the pick-and-place mechanism 300 is moved to the end of the frame body 100100 via a dual-axis moving mechanism, and the item is placed on the conveying part 50. Then, the pick-and-place mechanism 300 is moved again via the dual-axis moving mechanism to be opposite the first target compartment. When the item size is small, the drive unit 41 drives the first swing arm 42 to swing, and the item is adsorbed by the first suction cup 452 or the second suction cup 453. The first drive unit 20 drives the bracket 30 to slide into the first target compartment, and the adsorption mechanism 40 moves with the bracket 30 to place the adsorbed item on the first target compartment, completing the placement. When the item size is large, the second drive unit 70 drives the pushing part 60 to rotate, and the first drive unit 20 drives the bracket 30 to slide. As the pushing part 60 moves with the bracket 30, it pushes the item onto the first target compartment, completing the placement.

[0067] When retrieving an item, the pick-and-place mechanism 300 is moved to be opposite the first target compartment via a dual-axis moving mechanism. When the item is small, the first drive unit 20 drives the bracket 30 to slide into the first target compartment, and the drive unit 41 drives the first swing arm 42 to swing, so that the first suction surface 4521 or the second suction surface 4531 faces downward, and the item is adsorbed by the first suction cup 452 or the second suction cup 453; the first drive unit 20 drives the bracket 30 to slide in the opposite direction of the first direction Y, and the adsorption mechanism 40 moves with the bracket 30 to place the adsorbed item in the conveying unit 50; when the item is large, the first drive unit 20 drives the bracket 30 to slide into the first target compartment, and the second drive unit 70 drives the pusher 60 to rotate and extend, so that the pusher 60 is located behind the item; the first drive unit 20 drives the bracket 30 to slide in the opposite direction of the first direction Y, and the pusher 60 pushes the item to the conveying unit 50.

[0068] Then, the pick-and-place mechanism 300 is moved to the end of the frame body 100 by the dual-axis moving mechanism. The rotating shaft 13 is driven to rotate by the flip motor 12, which causes the rotating seat 14 to rotate, and the items on the conveying part 50 are unloaded, thus completing the pick-up.

[0069] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A shelving system having a first direction (Y) and a second direction (X) that are perpendicular to each other, characterized in that, The system includes a pick-and-place mechanism (300) and a frame body (100), wherein the pick-and-place mechanism (300) includes: Base (10); A first drive unit (20) is provided on the base (10); A bracket (30) is slidably disposed on the base (10) along the first direction (Y), and the first driving part (20) is connected to the bracket (30) to drive the bracket (30) to slide along the first direction (Y); A pusher (60) is connected to the end of the bracket (30). The pusher (60) is capable of swinging up and down about the first direction (Y) to approach the item on the base (10) or the item on the frame body (100). The adsorption mechanism (40) includes a driving member (41), a first swing arm (42), a transmission member (43), a mounting part (44), and an adsorption part (45). The driving member (41) is mounted on the bracket (30). One end of the first swing arm (42) is connected to the driving member (41). The driving member (41) is used to drive the first swing arm (42) to rotate around the second direction (X). The mounting part (44) is rotatably connected to the other end of the first swing arm (42), and the adsorption part (45) is connected to the mounting part (44). The transmission component (43) is connected to the mounting part (44) and the bracket (30), and the transmission component (43) is configured to drive the mounting part (44) to rotate around the second direction (X) when the first swing arm (42) rotates.

2. The shelving system according to claim 1, characterized in that, The transmission component (43) includes: Mounting base (431) is rotatably connected to the bracket (30), and the mounting base (431) is spaced apart from the first swing arm (42); The guide rod (432) is slidably inserted into the mounting base (431), with both ends of the guide rod (432) extending out of the mounting base (431), and one end of the guide rod (432) being connected to the mounting part (44).

3. The shelving system according to claim 2, characterized in that, The adsorption section (45) includes: The connecting body (451) is connected to the mounting part (44); The first suction cup (452) is fixed to the connecting body (451), and the first suction cup (452) has a first suction surface (4521). The second suction cup (453) is fixed to the connecting body (451). The second suction cup (453) has a second adsorption surface (4531). The first adsorption surface (4521) and the second adsorption surface (4531) are arranged at an angle. When the first swing arm (42) rotates around the second direction (X) and along the first direction (Y), the guide rod (432) drives the mounting part (44) to rotate around the second direction (X) and in a counterclockwise direction, so that the first adsorption surface (4521) faces downward; when the first swing arm (42) rotates around the second direction (X) and in the opposite direction of the first direction (Y), the guide rod (432) drives the mounting part (44) to rotate around the second direction (X) and in a clockwise direction, so that the second adsorption surface (4531) faces downward.

4. The shelving system according to claim 3, characterized in that, The mounting part (44) includes a rod body (441) and a support part (442) disposed at one end of the rod body (441). The support part (442) is rotatably connected to the first swing arm (42). The connecting body (451) is connected to the rod body (441). The rod body (441) has a square cross-sectional shape. The rod body (441) includes a first surface (4411) and a second surface (4412) arranged adjacent to each other. The first adsorption surface (4521) is arranged parallel to the first surface (4411), and the second adsorption surface (4531) is arranged at an angle to the second surface (4412).

5. The shelving system according to claim 3, characterized in that, The adsorption mechanism (40) further includes a distance sensor and a controller. The first suction cup (452) and the second suction cup (453) are both equipped with the distance sensor. The distance sensor is used to monitor the distance between the first adsorption surface (4521) or the second adsorption surface (4531) and the surface of the object. The distance sensor and the drive unit (41) are both electrically connected to the controller.

6. The shelving system according to claim 2, characterized in that, The adsorption mechanism (40) further includes a second swing arm (421), which is spaced apart from the first swing arm (42) along the second direction (X). The second swing arm (421) is rotatably connected to the bracket (30). The mounting part (44) is rotatably connected to the first swing arm (42) and the second swing arm (421) at both ends along the second direction (X). One end of the mounting part (44) extends out of the first swing arm (42) and is connected to the guide rod (432).

7. The shelving system according to any one of claims 1 to 6, characterized in that, The support (30) includes: The first frame (31) is slidably connected to the base (10). The first frame (31) is provided with a first guide wheel (311) and a second guide wheel (312) at intervals along the first direction (Y). The first drive unit (20) is connected to the first frame (31) in a transmission manner. The second frame (32) is slidably connected to the side of the first frame (31) away from the base (10), and the driving component (41) and the transmission component (43) are both connected to the second frame (32). A telescopic synchronous belt (33) is wound around the first guide wheel (311) and the second guide wheel (312). The upper belt body (331) of the telescopic synchronous belt (33) is connected to the base (10), and the lower belt body (332) of the telescopic synchronous belt (33) is connected to the second frame (32).

8. The shelving system according to any one of claims 1 to 6, characterized in that, The pick-and-place mechanism (300) further includes a conveying section (50), which is disposed on the base (10). The conveying section (50) is used to convey items along the first direction (Y), and the conveying section (50) is spaced below the adsorption section (45).

9. The shelving system according to any one of claims 1 to 6, characterized in that, The base (10) includes: Seat body (11); A flip motor (12) is connected to the base body (11). A rotating shaft (13) is rotatably mounted on the seat body (11), and the rotating shaft (13) is connected to the flipping motor (12); A rotating seat (14) is connected to the rotating shaft (13), and the first driving part (20) and the bracket (30) are both located on the rotating seat (14).

10. A method for storing and retrieving goods in a shelving system as described in claim 1, characterized in that, The rack body (100) is provided in multiple ways, and the multiple rack bodies (100) are arranged along the first direction (Y). Each rack body (100) is provided with multiple storage compartments, and the picking and placing mechanism (300) is provided between two adjacent rack bodies (100). The cargo storage and retrieval method includes: Move the pick-and-place mechanism (300) to a position opposite to the first target compartment of the rack body (100) on one side of the pick-and-place mechanism (300); Along the first direction (Y), rotate the first swing arm (42) so that the first adsorption surface (4521) faces downward, adsorb the items on the base (10), and slide the bracket (30) to transfer the adsorbed items to the first target compartment; or, slide the bracket (30) along the first direction (Y) and rotate the first swing arm (42) so that the first adsorption surface (4521) faces downward, adsorb the items in the first target compartment; and slide the bracket (30) in the opposite direction of the first direction (Y) to transfer the adsorbed items to the base (10). Move the pick-and-place mechanism (300) to a position opposite to the second target compartment of the rack body (100) on the other side of the pick-and-place mechanism (300); In the opposite direction of the first direction (Y), rotate the first swing arm (42) so that the second adsorption surface (4531) faces downward, adsorb the items on the base (10), and slide the bracket (30) to transfer the adsorbed items to the second target compartment; or, slide the bracket (30) in the opposite direction of the first direction (Y) and rotate the first swing arm (42) so that the first adsorption surface (4521) faces downward, adsorb the items in the second target compartment; and slide the bracket (30) in the first direction (Y) to transfer the adsorbed items to the base (10).

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