CN112978366B

CN112978366B - a picking system

Info

Publication number: CN112978366B
Application number: CN202011173544.XA
Authority: CN
Inventors: 杨翔
Original assignee: Nanjing Geek+ Robot Co ltd
Current assignee: Hefei Jizhijia Robot Co ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2024-03-15
Anticipated expiration: 2039-12-17
Also published as: CN110834954A; CN112978366A

Abstract

The invention discloses a pickup system, and belongs to the technical field of logistics storage. The pick-up system comprises a mechanical arm, a sucker assembly and a vacuum generation mechanism, wherein the mechanical arm is provided with at least one degree of freedom, the sucker assembly comprises a sucker seat and a sucker, one end of the sucker seat is rotationally connected to the tail end of the mechanical arm, the sucker is arranged below the sucker seat, the sucker assembly is configured to enter from a top opening of a cargo box under the driving of the mechanical arm and move towards a target cargo along a side opening of the cargo box so that the sucker approaches the cargo in the cargo box, and the vacuum generation mechanism is communicated with the sucker and is used for providing a vacuum environment for reaching the sucker near the cargo box, thereby completing the adsorption of the cargo. The picking system has wide application range, can adsorb cargoes with different materials, and especially does not need to select a specific picking angle or a picking point for cargoes packaged by the soft bag, can smoothly pick up the cargoes, has small picking difficulty and has higher picking efficiency.

Description

Pick-up system

The application is a divisional application with the application number of 201911302872.2, the application date of 2019, 12 months and 17 days, and the name of the application is a 'pickup system'.

Technical Field

The invention relates to the technical field of logistics storage, in particular to a pickup system.

Background

With the rapid development of the e-commerce industry, the efficiency of warehouse allocation is required to be improved. And with the ever-increasing labor cost, more and more industries begin to replace manpower with automation, so that the purposes of improving efficiency and reducing labor cost are achieved. The popularization of unmanned storehouse not only needs the robot (e.g. AGV) of goods to people, more needs the pick-up system of goods to arm, and robot and pick-up system cooperation just can realize real "unmanned storehouse".

The existing picking system generally adopts a mechanical arm, and the grabbing of goods is completed by the mechanical arm. However, for goods packaged by soft bags, such as clothes packaged by soft bags, the existing pick-up system is difficult to find a stable pick-up point, so that the pick-up difficulty is high and the efficiency is low.

Therefore, how to provide a pickup system with a wide application range, small pickup difficulty and high pickup efficiency is a technical problem to be solved.

Disclosure of Invention

The invention aims to provide a pickup system which is wide in application range, small in pickup difficulty and high in pickup efficiency.

To achieve the purpose, the invention adopts the following technical scheme:

a pick-up system, comprising:

a robotic arm having at least one degree of freedom;

the sucker assembly comprises a sucker seat and a sucker, one end of the sucker seat is rotationally connected to the tail end of the mechanical arm, and the sucker is arranged below the sucker seat; the suction cup assembly is configured to be accessible from a top opening of a cargo box under the drive of the robotic arm and to be movable along a side opening of the cargo box toward a target cargo to access the suction cup to the cargo within the cargo box;

and the vacuum generating mechanism is communicated with the sucker.

Optionally, the pick-up system further comprises:

and the AGV is used for moving the goods shelf provided with the container to the position of the mechanical arm.

Optionally, the number of the sucking discs is multiple, and the sucking discs are uniformly distributed on the sucking disc seat.

Optionally, the number of the sucking discs is five, four sucking discs are arranged in a rectangular shape, and the other sucking disc is located at the center of the rectangular shape.

Optionally, the suction cup assembly further comprises:

the protection cover is rotationally connected to the tail end of the mechanical arm, and the sucker seat is in sliding connection with the protection cover.

Optionally, a buffer mechanism is arranged between the protective cover and the sucker seat.

Optionally, the buffer gear includes guiding axle, linear bearing and reset spring, the one end of guiding axle with the sucking disc seat is connected, and the other end passes the safety cover sets up, linear bearing cover is established on the guiding axle, and be located the safety cover with between the guiding axle, reset spring cover is established on the guiding axle, and be located the safety cover with between the sucking disc seat.

Optionally, a limiting structure is arranged at the other end of the guide shaft.

Optionally, a mechanical arm protection detection mechanism is arranged below the protective cover, and the mechanical arm protection detection mechanism is configured to send a first signal for controlling the mechanical arm to stop moving when the mechanical arm protection detection mechanism is at a first preset distance from the sucker seat.

Optionally, a code scanner is arranged on the protective cover and is used for identifying the mark on the container.

Optionally, a cargo pickup detection mechanism is disposed below the suction cup seat, and the cargo pickup detection mechanism is configured to be capable of sending a second signal for controlling the mechanical arm to stop moving when the cargo pickup detection mechanism is at a second preset distance from the cargo.

Optionally, a cargo-falling detection mechanism is provided below the suction cup seat, and the cargo-falling detection mechanism is configured to be capable of sending a cargo-falling signal when the cargo falls.

Optionally, vacuum generating mechanism includes that solenoid valve admits air quick connector, break-make solenoid valve, a plurality of divide gas quick connector and a plurality of vacuum generator, each all be provided with a vacuum port quick connector and an air inlet quick connector on the vacuum generator, solenoid valve admits air quick connector's one end intercommunication air supply, the other end and one of them divide gas quick connector intercommunication, the break-make solenoid valve sets up solenoid valve admits air quick connector with divide between the gas quick connector, the air inlet quick connector with divide gas quick connector one-to-one intercommunication, the vacuum port quick connector with the trachea quick connector one-to-one of sucking disc.

The invention has the beneficial effects that:

the invention provides a pickup system, which comprises a mechanical arm, a sucker assembly and a vacuum generating mechanism, wherein the mechanical arm is provided with at least one degree of freedom, the sucker assembly comprises a sucker seat and a sucker, one end of the sucker seat is rotatably connected to the tail end of the mechanical arm, the sucker is arranged below the sucker seat, the sucker assembly is configured to enter from a top opening of a container under the driving of the mechanical arm and can move towards a target cargo along a side opening of the container so as to enable the sucker to approach the cargo in the container, and the vacuum generating mechanism is communicated with the sucker and is used for providing a vacuum environment for reaching the sucker nearby the cargo, thereby completing the adsorption of the cargo. The picking system has wide application range, can adsorb cargoes with different materials, and especially does not need to select a specific picking angle or a picking point for cargoes packaged by the soft bag, can smoothly pick up the cargoes, has small picking difficulty and has higher picking efficiency.

Drawings

FIG. 1 is a schematic diagram of a pick-up system provided by the present invention;

FIG. 2 is an isometric view of a chuck assembly provided by the present invention;

FIG. 3 is a bottom view of the chuck assembly provided by the present invention;

FIG. 4 is a side view of a chuck assembly provided by the present invention;

FIG. 5 is a front view of a chuck assembly provided by the present invention;

fig. 6 is a schematic structural view of a vacuum generating mechanism provided by the present invention.

In the figure:

100. a mechanical arm; 101. a first arm; 102. a second arm; 103. a third arm;

200. a suction cup assembly; 1. a sucker seat; 2. a suction cup; 3. a protective cover; 31. an upper protective cover; 32. a lower protective cover; 33. reinforcing rib plates; 4. a flange plate; 5. a buffer mechanism; 51. a guide shaft; 52. a linear bearing; 53. a return spring; 54. a cushion pad; 55. a limit structure; 6. a code scanner; 7. a cargo drop detection mechanism; 8. a cargo pick-up detection mechanism; 9. the air pipe is connected with the plug quickly; 10. the mechanical arm protection detection mechanism;

300. a cargo box; 301. a top opening; 302. a side opening;

400. a goods shelf;

500. a vacuum generating mechanism; 501. a vacuum generator; 502. the electromagnetic valve air inlet quick connector; 503. an on-off electromagnetic valve; 504. gas-dividing quick connector; 505. a vacuum port quick connector; 506. the air inlet quick connector.

Detailed Description

The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

The embodiment provides a pick-up system, this pick-up system can be used for in the logistics storage field to the construction of supplementary completion "unmanned storehouse", thereby reduce the in-process of choosing in the logistics field and to artifical reliance, improve the efficiency of choosing goods, reduce the human cost, and avoid artifical to choose goods and need the emergence of the incident that the climbing leads to.

As shown in fig. 1, the pick-up system includes a robot arm 100, a chuck assembly 200, and a vacuum generating mechanism 500. The pick-up system is capable of sucking up the cargo within the cargo box 300 in lieu of manually completing the automatic transfer of the cargo. As shown in fig. 1, in the present embodiment, the cargo box 300 is a rectangular box body having a top opening 301 and a side opening 302, and the width of the side opening 302 is set according to the requirement, in the present embodiment, in order to provide the cargo box 300 with both the accommodability and the convenience of the suction cup assembly 200 entering and exiting the cargo box 300, so as to facilitate the manual or the suction cup assembly 200 of the mechanical arm 100 to grasp the goods such as the soft bag packaged clothes in the cargo box 300, the side opening 302 having a width of about 1/3 is selected to be opened at the middle position of the front side of the cargo box 300, and the side opening 302 penetrates the top of the side wall of the cargo box 300. Alternatively, a plurality of cargo boxes 300 are arranged on a pallet 400, and as shown in fig. 1, the pallet 400 is a frame structure formed of plate members and rod members.

Specifically, the mechanical arm 100 has at least one degree of freedom, the suction cup assembly 200 is disposed at the end of the mechanical arm 100, and the suction cup assembly 200 is driven to move by the mechanical arm 100, so that the suction cup assembly 200 can approach the cargo box 300, and the pickup of the cargo in the cargo box 300 can be completed. When the robot arm 100 has only one degree of freedom, the degree of freedom may be a moving degree of freedom or a rotating degree of freedom, which is specifically selected according to the need. To increase the flexibility of the robotic arm 100, the robotic arm 100 optionally includes multiple degrees of freedom.

In this embodiment, the robotic arm 100 includes three degrees of rotational freedom. Specifically, as shown in fig. 1, the mechanical arm 100 includes a first arm 101, a second arm 102, and a third arm 103 that are sequentially rotatably connected. The first arm 101 is vertically and fixedly connected to the floor of a factory building or a base, the second arm 102 is rotatably connected to the top of the first arm 101, and the second arm 102 can rotate around the first axis under the driving of a motor. The third arm 103 is rotatably connected to the top of the second arm 102, and the third arm 103 is rotatable about a second axis perpendicular to the first axis under the drive of another motor. The suction cup assembly 200 is rotatably connected to the top of the third arm 103 and is rotatable about a third axis, which is perpendicular to both the first and second axes, driven by a further motor. Of course, in other embodiments, the degrees of freedom included in the robotic arm 100 may be increased or decreased as desired.

The suction cup assembly 200 is mainly used for performing a picking operation of goods. As shown in fig. 2 to 5, the suction cup assembly 200 includes a suction cup seat 1 and a suction cup 2, the suction cup seat 1 is rotatably connected to the end of the robot arm 100, and the suction cup 2 is disposed below the suction cup seat 1. Since the robot arm 100 has three degrees of rotational freedom in this embodiment, the suction cup 2 can reach any one position within the range of travel at any angle, and can flexibly move and rotate so as to adjust the suction angle and suction point of the cargo according to the need, and can enter from the top opening 301 of the cargo box 300 and move toward the target cargo along the side opening 302 of the cargo box 300 under the driving of the robot arm 100 to approach the cargo in the cargo box 300.

Specifically, as shown in fig. 2 and 3, the suction cup holder 1 includes a suction cup holder body having a rectangular structure, and a mounting portion for mounting the suction cup 2 is provided on the suction cup holder body. Optionally, in order to improve the adsorption effect, a plurality of suction cups 2 are disposed on the suction cup seat 1, and the plurality of suction cups 2 are uniformly distributed on the suction cup seat 1. In this embodiment, the suction cup seat 1 is in a shape of a Chinese character 'wang', two sides of the front end and the middle part of the suction cup seat are respectively provided with a mounting part, five suction cups 2 are arranged, four suction cups 2 are respectively arranged below the four mounting parts, and the fifth suction cup 2 is arranged at the center of a rectangle formed by the four suction cups 2. When the pick-up system is used for adsorbing soft packaged clothes, the arrangement of the five suckers 2 can give consideration to economy and adsorption effect, so that collapse of the clothes package is reduced to the greatest extent, and the pick-up rate of the clothes can be up to 99.9%.

In order to reduce the load of the robot arm 100, a plurality of lightening holes are provided in the suction cup holder 1. Optionally, the lightening hole is a through hole, and the lightening hole is rectangular.

The pickup system further comprises a protective cover 3, one end of the protective cover 3 is rotatably connected to the tail end of the mechanical arm 100 through a flange plate 4, and the other end of the protective cover 3 is in sliding connection with the sucker seat 1. Specifically, the protective cover 3 includes an upper protective cover 31 and a lower protective cover 32 fastened up and down, and a reinforcing rib 33 is further provided below the lower protective cover 32 to improve the structural strength of the protective cover 3.

A buffer mechanism 5 is arranged between the protective cover 3 and the sucker seat 1, and the buffer mechanism 5 can provide buffer force for the mechanical arm 100 after the sucker 2 is contacted with goods, so that the mechanical arm 100 can pick up goods at high speed, and other parts are prevented from being damaged by high-speed movement of the mechanical arm 100.

Specifically, as shown in fig. 4, the buffer mechanism 5 includes a guide shaft 51, a linear bearing 52, and a return spring 53. Be provided with on the safety cover 3 and wear to establish the hole, be provided with the mounting hole on the sucking disc seat 1, the one end fixed connection of guiding axle 51 is in the mounting hole, and the connected mode can utilize screw connection or welding, and the other end of guiding axle 51 passes and wears to establish the hole setting. The linear bearing 52 is sleeved on the guide shaft 51 and is arranged in the penetrating hole of the protective cover 3 so as to reduce the friction force applied when the protective cover 3 moves along the guide shaft 51. The return spring 53 is sleeved on the guide shaft 51 and is positioned between the protective cover 3 and the sucker seat 1. Optionally, a plurality of buffer mechanisms 5 are provided between the protective cover 3 and the suction cup holder 1 to enhance the buffer effect. In the present embodiment, two buffer mechanisms 5 are provided side by side.

After the sucker 2 abuts against the goods, the sucker seat 1 is forced to stop moving, at this time, the protecting cover 3 is driven by the mechanical arm 100 to continue moving, the reset spring 53 is compressed, and provides a resistance for the protecting cover 3 to prevent the protecting cover 3 from continuing moving, so that the moving speed of the protecting cover 3 and the mechanical arm 100 is reduced, and the mechanical arm 100 is protected.

Further, as shown in fig. 5, a robot arm protection detection mechanism 10 is further provided below the protective cover 3. Optionally, the mechanical arm protection detecting mechanism 10 is a proximity sensor, and the triggering distance of the proximity sensor is set according to the requirement, and in this embodiment, the triggering distance is 10mm. When the sucking disc 2 touches hard goods to stop rapidly, the distance between the protective cover 3 and the sucking disc seat 1 can be reduced rapidly, when the distance reaches the trigger distance, the proximity sensor sends a first signal to the control mechanism of the mechanical arm 100, and the control signal of the mechanical arm 100 controls the mechanical arm 100 to stop moving according to the first signal, so as to achieve the purpose of protecting the mechanical arm 100

Optionally, the mechanical arm protection detection mechanism 10 is mounted under the protection cover 3 by a mounting bracket. Alternatively, the mounting frame may be a plate-like structure in an L-shape or a Z-shape.

Further, a limiting structure 55 is further arranged at the end of the guide shaft 51 protruding out of the protective cover 3, so that the protective cover 3 is prevented from being separated from the guide shaft 51. Alternatively, the limiting structure 55 is a limiting plate having a diameter larger than that of the guide shaft 51, and the limiting plate is connected to the top of the guide shaft 51 by a screw. Optionally, a cushion 54 is also provided between the guide plate and the linear bearing 52. Alternatively, the cushion 54 is a polyurethane cushion made of polyurethane material.

In order to timely control the sucker assembly 200 to move downwards in the cargo box 300, so that damage to the sucker assembly 200 due to collision is avoided, a cargo pickup detection mechanism 8 is arranged below the sucker seat 1 to detect the distance between the sucker assembly 200 and the cargo, so that the mechanical arm 100 is timely controlled to stop moving, and further the sucker assembly 200 is stopped moving. As shown in fig. 3, the cargo pickup detection mechanism 8 is a proximity sensor that, when detecting a preset distance from the cargo, sends a second signal to the control mechanism of the robot arm 100 to control the robot arm 100 to stop moving. In the present embodiment, the preset distance is set to 20mm.

Further, after the suction cup 2 adsorbs the goods, the phenomenon that the goods are separated from the suction cup 2 to drop easily occurs due to factors such as unstable attractive force. In order to acquire the laundry falling signal in time, as shown in fig. 3, a cargo falling detection mechanism 7 is provided below the suction cup seat 1, the cargo falling detection mechanism 7 is configured to be capable of sending a cargo falling signal when the cargo falls, the falling signal can be transmitted to an alarm mechanism to control the alarm mechanism to send out an alarm signal so as to inform the manual handling of the falling cargo, or the falling signal can be transmitted to a robot so as to control the robot to handle the falling cargo. Alternatively, the cargo drop detection mechanism 7 is a photoelectric sensor, and a detection threshold of the photoelectric sensor may be set as required.

The vacuum generating mechanism 500 is used to provide a vacuum environment for the suction cup 2. As shown in fig. 6, the vacuum generating mechanism 500 includes a vacuum generator 501, a gas-dividing quick connector 504, a solenoid valve gas-intake quick connector 502, and a switching solenoid valve 503, and in this embodiment, the number of vacuum generators 501 is five as the number of suction cups 2. Each vacuum generator 501 is provided with a vacuum port quick connector 505 and an air inlet quick connector 506. One end of the solenoid valve air inlet quick connector 502 is communicated with an air source, and the other end is communicated with one of the air distribution quick connectors 504. The on-off electromagnetic valve 503 is arranged between the electromagnetic valve air inlet quick connector 502 and the air dividing quick connector 504, and the on-off electromagnetic valve 503 is used for controlling the passage of the air path between the electromagnetic valve air inlet quick connector 502 and the air dividing quick connector 504. The gas-dividing quick connector 504 is used for dividing the gas of the gas source into a plurality of strands, as shown in fig. 6, six gas-dividing quick connectors 504 are provided, one gas-dividing quick connector 504 is communicated with the electromagnetic valve gas-inlet quick connector 502, and the other five gas-dividing quick connectors 504 are communicated with the gas-inlet quick connector 506. The vacuum port quick connector 505 is communicated with the air pipe quick connector 9 of the sucker 2 so as to realize the communication between the vacuum generating mechanism 500 and the sucker 2.

By providing a plurality of vacuum generators 501, independent control of the plurality of suction cups 2 is achieved, while maintaining suction of suction cups 2 to a maximum extent, while avoiding a gripping failure due to the fact that individual suction cups 2 are not sucking in cargo. Of course, in other embodiments, if the number of suction cups 2 is changed, the number of vacuum generators 501 and the number of connectors are correspondingly changed.

Further, in order to pick up the goods in a certain container 300, a sign is provided on the front side of each container 300, and a code scanner 6 is provided on the front side of the protective cover 3, and the code scanner 6 is fixed on the protective cover 3 by using polyurethane head limit screws. By acquiring the information of the identification by the code scanner 6, the target cargo box 300 can be confirmed to avoid the occurrence of a false gripping phenomenon. Optionally identified as a two-dimensional code or bar code. And the label is affixed within 200mm x 200mm of the top left corner of the front side of the cargo box 300.

Further, the pick system also includes an AGV that is capable of transporting the target pallet 400 to the robotic arm 100 to effect pick up of the target load. AGVs are prior art and their specific structure is not described in detail herein.

Taking soft package clothes as an example, the working process of the pick-up system is as follows:

1. the upstream system receives the order information and conveys the target pallet 400 to a picking station according to the system information handling robot (AGV);

2. the mechanical arm 100 moves to a code scanning position of the target container 300 with the sucker assembly 200, and scans two-dimensional code information on the container 300 corresponding to the storage position to check whether the cargo position is correct or not;

3. after verification, the suction cup assembly 200 is extended into the cargo box 300 through the top opening 301 of the cargo box 300 and moved down the side opening 302 of the cargo box 300 to seek clothing;

4. when the goods picking detection mechanism 8 detects clothes, a second signal is sent to the control mechanism of the mechanical arm 100, so that the mechanical arm 100 stops probing, meanwhile, the on-off electromagnetic valve 503 of the vacuum generation mechanism 500 is opened, the vacuum generator 501 starts to work, and the suction cup 2 sucks clothes;

5. after the clothes are picked up, the mechanical arm 100 moves up to the safe position with the sucker assembly 200 and then exits the cargo box 300, and the clothes are placed at a required position, for example, a material box on a robot AGV, a material feeding port or a seeding wall, etc., so that the single order cycle is completed.

With this pick-up system, the average beat of the robot arm 100 picking up a piece of clothing through the suction cup assembly 200, including the code scanning recognition procedure, is 8S. The pickup system has the advantage of small occupied space, can reduce the reduction of the utilization rate of the goods shelf 400 to the minimum, and the minimum space required for picking up clothes is 140mm high, and the data are obtained by simulation under the condition that the quality of the clothes packaging bag is low and the collapse height after the clothes are grabbed is about 10mm. And this pick-up system application scope is wide, can adsorb the goods of different materials, especially to the goods of soft bag packing, need not select specific pick-up angle or pick-up point, near can accomplish smoothly and pick up, not only pick up the degree of difficulty little, and pick up efficiency is higher.

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. A pick-up system, comprising:

a robotic arm (100) having at least one degree of freedom;

the sucker assembly (200), the sucker assembly (200) comprises a sucker seat (1) and a sucker (2), one end of the sucker seat (1) is rotationally connected to the tail end of the mechanical arm (100), and the sucker (2) is arranged below the sucker seat (1); the suction cup assembly (200) is configured to be accessible from a top opening (301) of a cargo box (300) under the drive of the robotic arm (100) and to be movable along a side opening (302) of the cargo box (300) toward a target cargo to access the suction cup (2) to the cargo within the cargo box (300);

a vacuum generating mechanism (500), wherein the vacuum generating mechanism (500) is communicated with the sucker (2);

a cargo pick-up detection mechanism (8) is arranged below the sucker seat (1), and the cargo pick-up detection mechanism (8) is configured to send a second signal for controlling the mechanical arm (100) to stop moving when the cargo pick-up detection mechanism is at a second preset distance from the cargo;

a cargo falling detection mechanism (7) is arranged below the sucker seat (1), and the cargo falling detection mechanism (7) is configured to be capable of sending a cargo falling signal when the cargo falls;

the picking system further comprises a protective cover (3), one end of the protective cover (3) is rotatably connected to the tail end of the mechanical arm (100) through a flange plate (4), and the other end of the protective cover (3) is in sliding connection with the sucker seat (1); a buffer mechanism (5) is arranged between the protective cover (3) and the sucker seat (1); the buffer mechanism (5) comprises a guide shaft (51), a linear bearing (52) and a reset spring (53), one end of the guide shaft (51) is connected with the sucker seat (1), the other end of the guide shaft penetrates through the protective cover (3), the linear bearing (52) is sleeved on the guide shaft (51) and is positioned between the protective cover (3) and the guide shaft (51), and the reset spring (53) is sleeved on the guide shaft (51) and is positioned between the protective cover (3) and the sucker seat (1);

the mechanical arm protection detection mechanism (10) is further arranged below the protective cover (3), when the sucker (2) is in contact with hard goods to stop rapidly, the distance between the protective cover (3) and the sucker seat (1) can be reduced rapidly, and the mechanical arm protection detection mechanism (10) is configured to be capable of sending a first signal for controlling the mechanical arm (100) to stop moving when the protective cover (3) is away from the sucker seat (1) by a first preset distance.

2. The pickup system of claim 1, wherein the plurality of sensors are configured to detect,

the number of the sucking discs (2) is multiple, and the sucking discs (2) are uniformly distributed on the sucking disc seat (1);

the vacuum generating mechanism (500) comprises an electromagnetic valve air inlet quick plug connector (502), an on-off electromagnetic valve (503), a plurality of air distribution quick plug connectors (504) and a plurality of vacuum generators (501), wherein each vacuum generator (501) is provided with a vacuum port quick plug connector (505) and an air inlet quick plug connector (506), one end of the electromagnetic valve air inlet quick plug connector (502) is communicated with an air source, the other end of the electromagnetic valve air inlet quick plug connector is communicated with one of the air distribution quick plug connectors (504), the on-off electromagnetic valve (503) is arranged between the electromagnetic valve air inlet quick plug connectors (502) and the air distribution quick plug connectors (504), the air inlet quick plug connectors (506) are communicated with the air distribution quick plug connectors (504) in a one-to-one correspondence mode, and the vacuum port quick plug connectors (505) are communicated with air pipe quick plug connectors (9) of the sucker (2) in one-to-one correspondence.