CN110834954A

CN110834954A - Pickup system

Info

Publication number: CN110834954A
Application number: CN201911302872.2A
Authority: CN
Inventors: 杨翔
Original assignee: Nanjing Jizhi Jijia Robot Co Ltd
Current assignee: Nanjing Jizhi Jijia Robot Co Ltd
Priority date: 2019-12-17
Filing date: 2019-12-17
Publication date: 2020-02-25
Also published as: CN112978366B; CN112978366A

Abstract

The invention discloses a pickup system, and belongs to the technical field of logistics storage. This system of picking up includes the arm, sucking disc subassembly and vacuum generation mechanism, the arm has at least one degree of freedom, the sucking disc subassembly includes sucking disc seat and sucking disc, the one end of sucking disc seat is rotated and is connected the end at the arm, the sucking disc sets up the below at the sucking disc seat, the sucking disc subassembly is configured as the open-top entering that can follow the packing box under the drive of arm, and can follow the lateral part opening of packing box and remove to the target goods, so that the sucking disc is close the goods in the packing box, vacuum generation mechanism and sucking disc intercommunication, a sucking disc department for reaching near goods provides vacuum environment, thereby the completion is to the absorption of goods. The picking system is wide in application range, can adsorb the goods made of different materials, particularly for the goods packaged by soft bags, does not need to select a specific picking angle or a picking point, can smoothly complete picking when being close to the goods, and is small in picking difficulty and high in picking efficiency.

Description

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 goods distribution needs to be improved. In addition, with the rising labor cost, more and more industries use automation to replace labor, so as to achieve the purposes of improving efficiency and reducing labor cost. The popularization of the unmanned storehouse does not need a goods-to-person robot (such as an AGV) and a goods-to-mechanical arm picking system, and the robot and the picking system are matched to realize the real unmanned storehouse.

The existing picking system generally adopts a mechanical arm, and the mechanical arm is used for grabbing goods. However, for goods packaged in soft bags, such as clothes packaged in soft bags, the conventional pickup system is difficult to find a stable grabbing point, so that the grabbing difficulty is high, and the efficiency is low.

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

Disclosure of Invention

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

In order to achieve the purpose, the invention adopts the following technical scheme:

a pickup 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 rotatably 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 bring the suction cup into proximity with the cargo within the cargo box;

and the vacuum generating mechanism is communicated with the sucker.

Optionally, the pick-up system further comprises:

the AGV is used for moving a goods shelf provided with the container to the mechanical arm.

Optionally, the number of the suckers is multiple, and the suckers are uniformly distributed on the sucker seat.

Optionally, the number of the suckers is five, four of the suckers are arranged in a rectangle, and the other sucker is located at the center of the rectangle.

Optionally, the chuck assembly further comprises:

the safety cover, the safety cover rotates to be connected the end of arm, the sucking disc seat with safety cover sliding connection.

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

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

Optionally, the other end of the guide shaft is provided with a limiting structure.

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

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

Optionally, a cargo pick-up detection mechanism is arranged below the sucker seat, and the cargo pick-up detection mechanism is configured to send a second signal for controlling the mechanical arm to stop moving when the cargo is at a second preset distance from the cargo.

Optionally, a cargo drop detection mechanism is arranged below the sucker seat, and the cargo drop detection mechanism is configured to send a cargo drop signal when the cargo drops.

Optionally, the vacuum generating mechanism includes a solenoid valve air inlet quick connector, an on-off solenoid valve, a plurality of air distribution quick connectors and a plurality of vacuum generators, each vacuum generator is provided with a vacuum port quick connector and an air inlet quick connector, one end of the solenoid valve air inlet quick connector is communicated with an air source, the other end of the solenoid valve air inlet quick connector is communicated with one of the air distribution quick connectors, the on-off solenoid valve is arranged between the solenoid valve air inlet quick connector and the air distribution quick connector, the air inlet quick connector is communicated with the air distribution quick connectors in a one-to-one correspondence manner, and the vacuum port quick connectors are communicated with the air pipe quick connectors of the suckers in a one-to-one manner.

The invention has the beneficial effects that:

the invention provides a picking system which comprises a mechanical arm, a sucker assembly and a vacuum generating mechanism, wherein the mechanical arm has 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 can enter from a top opening of a container under the driving of the mechanical arm and can move towards target goods along a side opening of the container, so that the sucker is close to the goods in the container, and the vacuum generating mechanism is communicated with the sucker and used for providing a vacuum environment for the sucker near the goods, so that the goods are adsorbed. The picking system is wide in application range, can adsorb the goods made of different materials, particularly for the goods packaged by soft bags, does not need to select a specific picking angle or a picking point, can smoothly complete picking when being close to the goods, and is small in picking difficulty and high in 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 suction cup 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 the chuck assembly provided by the present invention;

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

fig. 6 is a schematic structural diagram 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 sucker component; 1. a sucker seat; 2. a suction cup; 3. a protective cover; 31. an upper protective cover; 32. a lower protective cover; 33. a reinforcing rib plate; 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 limiting structure; 6. a code scanner; 7. a cargo drop detection mechanism; 8. a cargo pick-up detection mechanism; 9. a gas pipe quick-connection plug; 10. a mechanical arm protection detection mechanism;

300. a cargo box; 301. the top is open; 302. a side opening;

400. a shelf;

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

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular 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 otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The embodiment provides a pick-up system, and this pick-up system can be used for in the logistics storage field to supplementary construction of accomplishing "unmanned storehouse", thereby reduce the commodity circulation field in choose the goods in-process to artifical reliance, improve and choose goods efficiency, reduce the human cost, and avoid the artifical incident that chooses goods and need climb the height and lead to's emergence.

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 can suck the goods in the container 300 to replace manual work to complete automatic transfer of the goods. As shown in fig. 1, in this embodiment, the container 300 is a rectangular box with a top opening 301 and side openings 302, and the width of the side openings 302 is set according to the requirement, in this embodiment, in order to make the container 300 have both the accommodation property and the convenience of the suction cup assembly 200 to enter and exit the container 300, so that the suction cup assembly 200 of the manual or mechanical arm 100 can grasp the goods such as soft bag packaged clothes in the container 300, the side openings 302 occupying about 1/3 width are selected to be opened at the middle position of the front side of the container 300, and the side openings 302 penetrate through the top of the side walls of the container 300. Alternatively, a plurality of containers 300 are arranged on a pallet 400, as shown in fig. 1, the pallet 400 is a frame structure formed of plates and bars.

Specifically, the robot arm 100 has at least one degree of freedom, the suction cup assembly 200 is disposed at the end of the robot arm 100, and the suction cup assembly 200 can be moved close to the cargo box 300 by driving the robot arm 100, 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 translational degree of freedom or a rotational degree of freedom, which is specifically selected according to the requirements. To increase the flexibility of the robotic arm 100, the robotic arm 100 optionally includes multiple degrees of freedom.

In the present embodiment, the robot arm 100 includes three rotational degrees of freedom. Specifically, as shown in fig. 1, the robot arm 100 includes a first arm 101, a second arm 102, and a third arm 103 that are rotatably connected in this order. Wherein, first arm 101 vertical fixed connection is on factory building ground or the base, and second arm 102 rotates the top of connecting at first arm 101, and under the drive of motor, second arm 102 can be around first axis rotation. The third arm 103 is rotatably connected to the top of the second arm 102, and the third arm 103 can rotate around a second axis perpendicular to the first axis under the driving of another motor. The chuck assembly 200 is pivotally connected to the top of the third arm 103 and is capable of rotating about a third axis, which is perpendicular to both the first axis and the second axis, under the drive of a further motor. Of course, in other embodiments, the degree of freedom included in the robotic arm 100 may be increased or decreased as desired.

The suction cup assembly 200 is mainly used to perform a pickup operation of goods. As shown in fig. 2 to 5, the suction cup assembly 200 includes a suction cup holder 1 and a suction cup 2, the suction cup holder 1 is rotatably connected to the end of the robot arm 100, and the suction cup 2 is disposed below the suction cup holder 1. Since the robot arm 100 has three rotational degrees of freedom in this embodiment, the suction cup 2 can reach any position within the range of travel at any angle, and can be flexibly moved and rotated so as to adjust the suction angle and suction point to the cargo as required, and can enter from the top opening 301 of the cargo box 300 under the driving of the robot arm 100, and move toward the target cargo along the side opening 302 of the cargo box 300 to access 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 main body having a rectangular structure, and a mounting portion for mounting the suction cup 2 is provided on the suction cup holder main body. Optionally, in order to improve the adsorption effect, a plurality of suction cups 2 are disposed on the suction cup holder 1, and the suction cups 2 are uniformly distributed on the suction cup holder 1. In this embodiment, the sucker base 1 is in a shape like a Chinese character 'wang', the front end and the two sides of the middle part of the sucker base are respectively provided with an installation part and five suckers 2, the four suckers 2 are respectively installed below the four installation parts, and the fifth sucker 2 is installed at the center of the rectangle formed by the four suckers 2. When the picking system is used for adsorbing the clothes with the soft package, the arrangement of the five suckers 2 can give consideration to the economical efficiency and the adsorption effect, the collapse of the clothes package is reduced to the maximum extent, and the picking rate of the clothes can reach 99.9%.

In order to reduce the load of the robot arm 100, a plurality of lightening holes are provided on the chuck base 1. Optionally, the lightening holes are through holes, and the lightening holes are rectangular.

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 slidably connected with the sucker seat 1. Specifically, the protective cover 3 includes an upper protective cover 31 and a lower protective cover 32 which are fastened up and down, and a reinforcing rib plate 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 base 1, and the buffer mechanism 5 can provide buffer force for the mechanical arm 100 after the sucker 2 is contacted with the goods, so that the mechanical arm 100 can be ensured to pick up the goods at high speed, and the mechanical arm 100 is prevented from moving at high speed to damage other parts.

Specifically, as shown in fig. 4, the damper mechanism 5 includes a guide shaft 51, a linear bearing 52, and a return spring 53. Be provided with the through-hole on the safety cover 3, be provided with the mounting hole on the sucking disc seat 1, the one end fixed connection of guiding axle 51 can utilize bolted connection or welding in the mounting hole, and the other end of guiding axle 51 passes the through-hole setting. The linear bearing 52 is sleeved on the guide shaft 51 and is arranged in the through hole of the protection cover 3 to reduce the friction force applied when the protection 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 damping mechanisms 5 are provided between the protective cover 3 and the suction cup holder 1 to improve the damping effect. In the present embodiment, two buffer mechanisms 5 are provided, which are arranged side by side.

After sucking disc 2 and goods butt, sucking disc seat 1 is compelled to stop moving, and the safety cover 3 can continue to move under the drive of arm 100 this moment, and reset spring 53 receives the compression to for the safety cover 3 provides a resistance, in order to prevent the safety cover 3 to continue to move, thereby reduce the removal speed of safety cover 3 and arm 100, play the effect of protection arm 100.

Further, as shown in fig. 5, a robot arm protection detection mechanism 10 is provided below the protection cover 3. Optionally, the mechanical arm protection detection mechanism 10 is a proximity sensor, and the trigger distance of the proximity sensor is set according to requirements, and in this embodiment, the trigger distance is 10 mm. When the sucker 2 touches hard goods and stops quickly, the distance between the protective cover 3 and the sucker seat 1 can be reduced quickly, when the distance reaches a trigger distance, the proximity sensor sends a first signal to a 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

Alternatively, the robot arm protection detection mechanism 10 is mounted below the protective cover 3 by a mounting bracket. Alternatively, the mounting bracket may be a plate-shaped structure in an L-shape or a Z-shape.

Further, a limit structure 55 is further provided at an end of the guide shaft 51 protruding the protection cover 3 to prevent the protection cover 3 from being separated from the guide shaft 51. Alternatively, the limiting structure 55 is a limiting plate with a diameter larger than that of the guide shaft 51, and the limiting plate is connected to the top of the guide shaft 51 through a screw. Optionally, a cushion pad 54 is also provided between the guide plate and the linear bearing 52. Alternatively, the cushion pad 54 is a polyurethane cushion pad made of a polyurethane material.

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

Further, after the suction cup 2 adsorbs the goods, the goods are easily separated from the suction cup 2 and fall off due to factors such as unstable attraction force. In order to timely acquire a clothes falling signal, as shown in fig. 3, a goods falling detection mechanism 7 is arranged below the sucker base 1, the goods falling detection mechanism 7 is configured to send a goods falling signal when the goods fall, the falling signal can be transmitted to an alarm mechanism to control the alarm mechanism to send an alarm signal so as to inform a person to handle the fallen goods, or the falling signal can be transmitted to a robot so as to control the robot to handle the fallen goods. 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 vacuum generators 501, a quick air distribution plug 504, a quick solenoid valve air inlet plug 502, and an on-off solenoid valve 503, and in this embodiment, the number of the vacuum generators 501 is the same as that of the suction cups 2, and is five. 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 air distribution quick connector 504. The on-off solenoid valve 503 is arranged between the solenoid valve air inlet quick connector 502 and the air distribution quick connector 504, and the on-off solenoid valve 503 is used for controlling a channel of an air passage between the solenoid valve air inlet quick connector 502 and the air distribution quick connector 504. The gas distribution quick connector 504 is used for dividing the gas of the gas source into a plurality of gas strands, as shown in fig. 6, six gas distribution quick connectors 504 are provided, wherein one gas distribution quick connector 504 is communicated with the solenoid valve gas inlet quick connector 502, and the other five gas distribution 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 suction cup 2 to realize the communication between the vacuum generating mechanism 500 and the suction cup 2.

Through setting up a plurality of vacuum generator 501 to realized the independent control to a plurality of sucking discs 2, avoided the snatching failure that leads to because there is individual sucking disc 2 among them not to inhale the goods when furthest keeps sucking disc 2 suction. Of course in other embodiments, if the number of suction cups 2 is changed, the number of vacuum generators 501 and joints may be changed accordingly.

Further, in order to pick up the goods in a certain container 300, a mark is provided on the front side of each container 300, and a code scanner 6 is provided on the front side of the protection cover 3, and the code scanner 6 is fixed to the protection cover 3 by a urethane head limit screw. By acquiring the information of the identification by using the barcode scanner 6, the target container 300 can be confirmed to avoid the occurrence of the false grabbing phenomenon. Optionally, the identification is a two-dimensional code or a bar code. And the logo is attached within 200mm x 200mm of the position of the upper left corner of the front side of the cargo box 300.

Further, the pickup system further includes an AGV capable of transporting the target rack 400 to the robot arm 100 to pick up the target goods. AGVs are prior art and their specific structure will not be described in detail herein.

Taking the clothes with soft package goods as an example, the picking system works as follows:

1. the upstream system receives the order information, and a transfer robot (AGV) transfers the target shelf 400 to a picking station according to the system information;

2. the mechanical arm 100 with the sucker assembly 200 moves to a code scanning position of the target container 300, and two-dimensional code information on the container 300 corresponding to the storage position is scanned to check whether the cargo position is correct;

3. after confirming that it is correct, the suction cup assemblies 200 extend into the cargo box 300 through the top opening 301 of the cargo box 300 and move down the side openings 302 of the cargo box 300 to search for clothes;

4. when the goods picking and detecting 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 downward probing, meanwhile, the on-off electromagnetic valve 503 of the vacuum generating mechanism 500 is opened, the vacuum generator 501 starts to work, and the sucking disc 2 sucks the clothes;

5. after the completion of the picking up of the clothes, the robot arm 100 with the suction cup assembly 200 moves up to the safe position first and then exits the container 300, and places the clothes to the desired position, such as the material box on the robot AGV, the feeding port or the sowing wall, so that the single order cycle is completed.

By using the pick-up system, the clothes can be picked up at high speed, and the average beat of the mechanical arm 100 picking up one clothes through the sucker assembly 200 is 8S including the code scanning identification program. And the pick-up system has the advantage of small occupied space, and can reduce the reduction of the utilization rate of the goods shelf 400 to the minimum, the minimum space required for picking up clothes is 140mm high, and the data is simulated under the conditions that the quality of the clothes packaging bag is low, and the collapse height of the clothes after being grabbed is about 10 mm. The picking system is wide in application range, can adsorb goods made of different materials, particularly for goods packaged in soft bags, does not need to select a specific picking angle or a picking point, can smoothly complete picking when approaching, and is small in picking difficulty and high in picking efficiency.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A pickup system, comprising:

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

the sucker assembly (200) comprises a sucker seat (1) and a sucker (2), one end of the sucker seat (1) is rotatably connected to the tail end of the mechanical arm (100), and the sucker (2) is arranged below the sucker seat (1); the sucker assembly (200) is configured to be capable of entering from a top opening (301) of a container (300) under the driving of the mechanical arm (100) and moving towards a target cargo along a side opening (302) of the container (300) so as to enable the sucker (2) to approach the cargo in the container (300);

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

2. The pickup system of claim 1, further comprising:

an AGV for moving a rack (400) provided with the container (300) to the robot arm (100).

3. The pickup system as recited in claim 1,

the number of the suckers (2) is multiple, and the suckers (2) are uniformly distributed on the sucker seat (1).

4. The pickup system according to claim 3,

the number of the suckers (2) is five, wherein four suckers (2) are arranged in a rectangular mode, and the other sucker (2) is located in the center of the rectangular mode.

5. The pickup system of claim 1, wherein the chuck assembly (200) further comprises:

the protective cover (3), the protective cover (3) rotate to be connected the end of arm (100), sucking disc seat (1) with protective cover (3) sliding connection.

6. The pickup system as recited in claim 5,

a buffer mechanism (5) is arranged between the protective cover (3) and the sucker seat (1).

7. The pickup system as recited in claim 6,

buffer gear (5) are including guiding axle (51), linear bearing (52) and reset spring (53), the one end of guiding axle (51) with sucking disc seat (1) is connected, and the other end passes safety cover (3) set up, linear bearing (52) cover is established on guiding axle (51), and are located safety cover (3) with between guiding axle (51), reset spring (53) cover is established on guiding axle (51), and are located safety cover (3) with between sucking disc seat (1).

8. The pickup system as recited in claim 7,

and the other end of the guide shaft (51) is provided with a limiting structure (55).

9. The pickup system as recited in claim 5,

a mechanical arm protection detection mechanism (10) is arranged below the protective cover (3), 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 distance from the sucker seat (1) is a first preset distance.

10. The pickup system as recited in claim 5,

and a code scanner (6) is arranged on the protective cover (3) and used for identifying the mark on the container (300).