Sorting equipment and sorting method

Abstract

The invention discloses sorting equipment and a sorting method, and relates to the technical field of material sorting, and the sorting equipment comprises a moving system which comprises action pieces moving in the X direction, the Y direction and the Z direction of a three-dimensional coordinate; the sorting system comprises a plurality of robots arranged on the action piece, and the wrists of the robots are provided with gripper assemblies used for grabbing and placing materials; the visual system is arranged on the robot and / or the action piece and used for recognizing the type of the materials to be grabbed and the position of the skip car; the material frame system comprises a material frame and a plurality of material boxes arranged on the material frame in a plurality of layers; the skip car system comprises a skip car used for transporting materials, and the skip car is provided with a target for the visual system to identify; and the control system is used for controlling the movement system and the sorting system to act according to feedback signals of the visual system. According to the sorting equipment, intelligent sorting of various materials on the material frame can be achieved, the optimal sorting path can be planned according to different assembling skip cars and the materials, and the optimal sorting rhythm and the optimal sorting efficiency are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of material sorting, and in particular to a sorting device and a sorting method. Background Art

[0002] With the continuous innovation of automobile production technology and the rapid development of the industry, the demand for automation and intelligence in the four major workshops of stamping, welding, painting and assembly in automobile factories is increasing.

[0003] Among them, material sorting has the lowest automation rate in the general assembly workshop, because different models need to sort different types and quantities of materials, but in production, these tasks need to be completed within the same beat, which will lead to some models of material sorting operations, and manual labor will be busy; other models of manual labor may have more idle time. Similarly, it is precisely because the material sorting area of ​​the general assembly workshop has a wide variety of materials and high beat requirements, which brings huge challenges to the current intelligent identification and intelligent grasping technologies, and also becomes one of the biggest obstacles to the improvement of automation and intelligence in the material sorting area.

[0004] Therefore, in response to the above technical problems, how to develop a sorting device that is compatible with automated functions such as identification, grabbing and placement of multiple types of materials is a technical problem that technical personnel in this field need to solve. Summary of the invention

[0005] The purpose of this application is to provide a sorting device and a sorting method, which can realize the intelligent sorting of various materials on the material rack. According to the differences in the assembly material carts and materials, the sorting device can plan the optimal sorting path to achieve the optimal sorting rhythm and optimal sorting efficiency.

[0006] To achieve the above objectives, the present application provides a sorting device, comprising:

[0007] A moving system, including a moving member moving in the X, Y and Z directions of three-dimensional coordinates;

[0008] The sorting system comprises a plurality of robots arranged on the actuating member, wherein the wrists of the robots are provided with gripper assemblies for grasping and placing materials;

[0009] A visual system, provided on the robot and / or the actuating member, for identifying the type of material to be grasped and the position of the material cart;

[0010] A material rack system, comprising a material rack and a plurality of material boxes arranged on the material rack in several layers, wherein different material boxes are used to store different types of materials;

[0011] A skip system, comprising a skip for transporting materials, wherein the skip is provided with a target for identification by the visual system;

[0012] A control system is connected to the mobile system, the sorting system and the visual system, and is used to control the movement of the mobile system and the sorting system according to the feedback signal of the visual system.

[0013] Preferably, the mobile system comprises:

[0014] The gantry overhead rail includes two columns arranged on the ground, the tops of the two columns are provided with track beams distributed along the Y direction, and the material rack is arranged between the two columns;

[0015] A Y-direction sliding member is slidably disposed on the track beam and slides along the Y-direction, and an X-direction track distributed along the X-direction is disposed on the end surface of the Y-direction sliding member;

[0016] The X-direction sliding member is slidably arranged on the X-direction track and slides along the X-direction. The X-direction sliding member is provided with a Z-direction sliding rail distributed along the Z-direction. The actuating member is slidably matched with the Z-direction sliding rail.

[0017] Preferably, the Y-axis sliding member and the track beam adopt a sliding contact power supply method, and the mobile system also includes an X-axis driving motor for driving the X-axis sliding member to slide on the X-axis track, and a Z-axis driving motor for driving the actuating member to slide on the Z-axis slide rail.

[0018] Preferably, the number of the robots is at least two, and the two robots are distributed on both sides of the bottom end of the action member, and the visual system is respectively arranged on the wrists of the two robots and the bottom end of the action member.

[0019] Preferably, the gripper assembly comprises one or more of a suction cup gripper, a mechanical gripper and a flexible gripper, and the gripper assembly is detachably connected to the robot.

[0020] Preferably, it also includes a protection system, which is arranged at the bottom of the action end and faces the side of the material cart. The protection system is non-contact area protection, and the protection system includes one or more of laser radar area protection, visual area protection or area scanner protection.

[0021] Preferably, the material cart system also includes an AGV trolley arranged on the material cart to drive the material cart to move to the target position.

[0022] Preferably, the robot is a six-axis or seven-axis robot.

[0023] Preferably, there are at least three layers of material boxes on the material rack, and a pick-up and drop-off opening is provided on the upper side of each layer of material boxes. There is no obstruction between the material boxes and the sorting system, so that the visual system can directly identify the position of the material boxes.

[0024] A sorting method, applied to the above-mentioned sorting device, the sorting method comprises:

[0025] S1: The control system interacts with the material car system to obtain the material car model;

[0026] S2: The control system generates tasks based on the material cart information and the material rack status;

[0027] S3: Based on the real-time position of the robot, the control system plans the optimal path for the robot to pick up and place materials;

[0028] S4: The material cart arrives at the target sorting station, and the visual system identifies the target on the material cart to obtain the real-time location information of the material cart;

[0029] S5: The robot moves to the pickup position according to the path, and recognizes the material information through the visual system and grabs the corresponding material;

[0030] S6: The mobile system drives the robot to the placement position. The robot places the material in the material box according to the location information of the material box to complete the placement;

[0031] S7: Repeat steps S5 to S6 until all materials on the material cart are sorted;

[0032] S8: The material cart moves out of the target sorting station, and steps S1 to S8 are repeated.

[0033] Compared with the above background technology, the present application can accurately obtain the precise position of the material cart and the materials on the material cart through the visual system. The control system allocates the optimal pick-up and placement path for the robot based on the position information, realizes the automatic grasping and automatic placement of different materials, and improves the sorting quality; at the same time, the visual system can also provide accurate position information for the sorting system, that is, the robot is provided with a visual system, and the visual systems for identifying the material cart and identifying the material are separately set, which simplifies the action content, saves working time, and ensures work efficiency and accuracy. The present application realizes the intelligent sorting of multiple materials on the material rack. According to the different types of material carts and materials, the sorting equipment can plan the optimal sorting path to achieve the optimal sorting rhythm and the optimal sorting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of the structure of the sorting equipment provided in the embodiment of the present application;

[0036] Figure 2 A schematic diagram of the gantry overhead rail structure provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the structure of an X-axis sliding member and a Y-axis sliding member provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the structure of a sorting system provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of the structure of a visual system provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of the structure of the gripper assembly provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of the structure of the rack system provided in the embodiment of the present application;

[0042] Figure 8 A schematic diagram of the structure of a material cart system provided in an embodiment of the present application;

[0043] Fig. 9 A control block diagram of the sorting equipment provided in the embodiment of the present application;

[0044] Fig.10 This is a flow chart of the sorting method provided in an embodiment of the present application.

[0045] In the figure: 1-mobile system; 2-sorting system; 3-visual system; 4-shelf system; 5-cart system; 6-control system; 7-protection system;

[0046] 11-acting member; 12-column; 13-track beam; 14-Y-direction sliding member; 15-X-direction sliding member; 16-X-direction driving motor; 17-Z-direction driving motor; 18-anti-slip member;

[0047] 21-robot; 22-gripper assembly; 221-mechanical gripper; 222-suction cup gripper; 223-flexible gripper; 224-quick change plate;

[0048] 41- material rack; 42- material box; 421- lower material box; 422- middle material box; 423- upper material box;

[0049] 51- material car; 52- AGV car; 53- target. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] It should be noted that in this embodiment, the directions or positional relationships indicated by "upper", "lower", "front", "back", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present application. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0052] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0053] like Figure 1 As shown, in this embodiment, a sorting device is provided, which includes a mobile system 1, a sorting system 2, a visual system 3, a rack system 4, a material cart system 5 and a control system 6. The mobile system 1 includes an action member 11 that moves in the X, Y and Z directions of the three-dimensional coordinates, which can meet the action requirements of the action member 11 within the target range, so that the action member 11 can cooperate with the sorting system 2 to grab and release materials at any position within the target range. At the same time, it can also provide more and better movement paths for the sorting system 2 to ensure that the sorting system 2 can move in the optimal sorting path.

[0054] The sorting system 2 includes a plurality of robots 21 disposed on the actuating member 11. Specifically, the robots 21 are disposed at the bottom of the actuating member 11. The wrists of the robots 21 are provided with gripper assemblies 22 for grasping and placing materials. The robots 21 are multi-degree-of-freedom collaborative robots or industrial robots. The wrists of the robots 21 are usually located at the end of the robots 21 to facilitate grasping and placing materials.

[0055] The visual system 3 is provided on the robot 21 and / or the action member 11. The visual system 3 provided on the robot 21 can move with the gripper assembly 22 to identify the type of material to be grasped or placed, and determine the grasping position or placement position of the material, thereby achieving accurate grasping and placement of different types of materials, and placing the materials in different to-be-placed areas according to the different types of materials. The visual system 3 provided on the action member 11 can identify the position of the material cart 51. When the incoming material cart 51 reaches the target area, the position information of the material cart 51 can be accurately determined through the visual system 3 to achieve accurate grasping of the material.

[0056] The material rack system 4 includes a material rack 41 and a plurality of material boxes 42 arranged in several layers on the material rack 41. Different material boxes 42 can be used to store different types of materials. The visual system 3 on the robot 21 can identify position information and determine the type of material that can be placed in the material box 42 based on different position information, thereby realizing the separate placement of different types of materials.

[0057] The material cart system 5 includes a material cart 51 for transporting materials. The material cart 51 can reach the target sorting area according to the control information. A target 53 for the visual system 3 to identify is provided on the material cart 51. The target 53 serves as an origin mark, so that the visual system 3 can obtain the entire spatial posture of the material cart 51 only by identifying the target 53, which greatly reduces the programming time.

[0058] The control system 6 is connected to the mobile system 1, the sorting system 2 and the visual system 3, and is used to control the actions of the mobile system 1 and the sorting system 2 according to the feedback signal of the visual system 3. For example, the control system 6 determines the position information of the material cart 51 according to the visual system 3, and plans the optimal material picking and placing path for the robot 21 according to the real-time position information of the robot 21 or the action part 11, thereby controlling the action of the robot 21. At the same time, the mobile system 1 can assist in cooperating with the action of the robot 21 to achieve the optimal sorting path.

[0059] In summary of the above embodiments, the present application can accurately obtain the precise position of the material cart 51 and the materials on the material cart 51 through the visual system 3. The control system 6 allocates the optimal pick-up and placement path to the robot 21 based on the position information, realizes the automatic grasping and automatic placement of different materials, and improves the sorting quality; at the same time, the visual system 3 can also provide accurate position information for the sorting system 2, that is, the robot 21 is provided with a visual system 3, and the visual system 3 for identifying the material cart 51 and identifying the material is separately provided, which simplifies the action content, saves working time, and ensures work efficiency and accuracy. The present application realizes the intelligent sorting of multiple materials on the material rack 41. According to the different types of material carts 51 and the types of materials, the sorting equipment can plan the optimal sorting path to achieve the optimal sorting rhythm and the optimal sorting efficiency.

[0060] In some embodiments, the mobile system 1 includes a gantry overhead rail, and there is enough space under the gantry overhead rail to place the rack system 4. At the same time, when the equipment fails, the action member 11 can rise to the highest point along the Z direction, so that there is enough space under the gantry overhead rail for the operator to operate. The gantry overhead rail includes two columns 12 set on the ground, please refer to Figure 2 , horizontal track beams 13 distributed along the Y direction are provided at the top ends of the two columns 12, and the material rack 41 is provided at the lower side of the track beam 13 between the two columns 12.

[0061] Taking into account the limited space in some factories, the setting of the sorting equipment should fully consider the transformation of the factory space. Therefore, the equipment has automatic intelligent sorting and the ability to perceive personnel. At the same time, it is also necessary to control the transformation time and cost of the on-site space to the minimum to the greatest extent. Therefore, this application adopts a multi-axis dual-arm robot 21 with multi-sensing capabilities and uses a gantry overhead rail. It only needs to add two columns 12 to the existing layout to complete the construction, minimizing the floor space and the workload of the transformation and construction.

[0062] The moving system 1 also includes a Y-direction sliding member 14 and an X-direction sliding member 15, see Figure 3 The Y-direction sliding member 14 is arranged on the track beam 13. The Y-direction sliding member 14 and the track beam 13 can be powered by a sliding contact, that is, the gantry overhead rail is self-powered, and the Y-direction sliding member 14 is driven to move along the Y direction by the sliding contact line. There is no need to install a drag chain, which greatly improves the convenience of construction and maintenance. The modular design is convenient for expansion. At the same time, the gantry overhead rail has good scalability. If more material areas need to be covered, it only needs to extend the length of the track beam 13.

[0063] An X-direction track distributed along the X-direction is provided on the end surface of the Y-direction sliding member 14, and the X-direction sliding member 15 is slidably provided on the X-direction track, thereby realizing the X-direction sliding of the X-direction sliding member 15. A Z-direction track distributed along the Z-direction is provided on the X-direction sliding member 15, and the action member 11 slidably cooperates with the Z-direction track, thereby realizing the movement of the action member 11 in the X-direction, the Y-direction and the Z-direction.

[0064] The mobile system 1 also includes an X-axis drive motor 16 for driving the X-axis slide 15 to slide along the X-axis track. The X-axis drive motor 16 can be arranged on the X-axis slide 15, and drive the X-axis slide 15 to slide through a gear rack mechanism; the X-axis drive motor 16 can also be arranged on the Y-axis slide 14, and drive the X-axis slide 15 to slide through a belt drive or a chain drive. We will not describe them in detail here, just make sure that the X-axis slide 15 can be driven to slide. Similarly, the Z-axis drive motor 17 can be used to drive the action member 11 to slide on the Z-axis slide. For details, please refer to the setting method of the X-axis drive motor 16, which will not be repeated here. It should be noted that in order to ensure the movement accuracy of the action member 11, the X-axis drive motor 16 and the Z-axis drive motor 17 can be servo motors with greater acceleration (up to 3m / s 2 ), higher speed (up to 1.5m / s), better control accuracy (controllable accuracy within 1mm).

[0065] Since the actuating member 11 itself needs to move in the Z direction relative to the X-direction sliding member 15, in order to prevent the actuating member 11 from slipping out of the X-direction sliding member 15 under the action of gravity after moving beyond the limit, an anti-slip member 18 can be provided on the X-direction sliding member 15. The anti-slip member 18 interferes with the limit position of the end portion of the actuating member 11 in the Z direction, that is, when the actuating member 11 moves within the normal stroke, the anti-slip member 18 does not interfere with the actuating member 11. Only when the end portion of the actuating member 11 moves to a position corresponding to the anti-slip member 18, the anti-slip member 18 can prevent the actuating member 11 from continuing to move along the Z direction under the limit action of the anti-slip member 18, thereby ensuring that the actuating member 11 will not accidentally slip out of the X-direction sliding member 15.

[0066] As the current production cycle requirements are getting higher and higher, the speed of manual sorting, including the speed from grabbing to placing, can be done in 6 seconds per material; the speed of single-arm recognition and sorting is usually more than 20 seconds, which can no longer meet the requirements of the production line, so the double-arm form has gradually become one of the mainstream forms of improving efficiency; therefore, the number of robots 21 in this application is at least two, please refer to Figure 4 and Figure 5 The two robots 21 are distributed on both sides of the bottom of the action part 11. The two tandem robots 21 can work independently and perform sorting tasks at the same time, which greatly improves the efficiency of intelligent sorting. At the same time, each robot 21 is equipped with a visual system 3, which can independently complete the identification and grasping of materials, further improving work efficiency. The visual systems 3 on the two robots cooperate with the visual system 3 on the action part 11 to form a three-vision mode, which separates the action of identifying the material cart 51 from the action of identifying the material, and minimizes the trajectory time of the robot 21.

[0067] To meet the needs of grabbing and placing different materials, please refer to Figure 6 The gripper assembly 22 includes one or more of a suction cup gripper 222, a mechanical gripper 221, and a flexible gripper 223. The suction cup gripper 222 uses an electric suction cup, that is, it grabs the material through the adsorption force of the suction cup, and is usually suitable for materials with a flat outer wall; the mechanical gripper, such as a rigid gripper driven by a servo motor, has a stable gripping force and can be used for materials with high hardness and irregular shapes; the flexible gripper 223 drives the deformation of the flexible material through air pressure to achieve adaptive wrapping grasping of the object, and is suitable for fragile or irregularly shaped materials. Of course, the gripper assembly 22 can also be in the form of a dexterous hand, a three-finger gripper, etc., which will not be described in detail here. Different gripper assemblies 22 can be used according to different materials.

[0068] The gripper assembly 22 can be detachably connected to the wrist of the robot 21 through a quick-change disk 224. The specific structure of the quick-change disk 224 can refer to the prior art; the idle gripper assembly 22 can be temporarily stored on the column 12 as a backup.

[0069] The sorting device also includes a protection system 7, see Figure 5 The protection system 7 is arranged at the bottom of the action end and faces the side of the material cart 51. The protection system 7 is a non-contact area protection and distinguishes between people and the material cart 51. If someone breaks into the working area of ​​the robot 21, it will alarm and control the mobile system 1 or the sorting system 2 to slow down or stop; the protection system 7 includes one or more of laser radar area protection, visual area protection or area scanner protection. In addition, the robot 21 itself also has a collision detection function, and it will automatically stop after detecting a collision. The dual protection function improves the safety performance of the sorting equipment. The robot 21 can be a robot 21 with other degrees of freedom such as six axes or seven axes, and there are no excessive restrictions here.

[0070] Please refer to Figure 8 The material cart system 5 also includes an AGV trolley 52 (automatic guided vehicle) arranged on the material cart 51, which drives the material cart 51 to move to the target sorting position through control instructions. However, since the stopping accuracy of the AGV trolley 52 is not high, the visual system 3 is used to take a photo of the target 53 to obtain the overall position of the material cart 51. Through this overall position and the spatial posture of the material cart 51 that has been obtained, the position information of each layer of the material cart 51 can be completely identified. It should be noted that the spatial posture of the entire material cart 51, including the spacing size of each layer of partitions, is automatically recognized in the software and sent to the control system 6 using technologies such as Sim-to-Real (from simulation to reality).

[0071] In addition, the material box 42 on the material rack 41 of the present application has at least three layers, please refer to Figure 7 , each layer of the material box 42 has a take-in and put-out opening on the upper side, and the take-in and put-out opening is not blocked by the material rack 41, so that the items can be taken out conveniently; at the same time, the upper material box 423 will not block the take-in and put-out opening of the middle material box 422, and the middle material box 422 will not block the take-in and put-out opening of the lower material box 421, so that the robot 21 can place the materials in any material box 42. In addition, there is no blocking of the material rack 41 between the material box 42 and the sorting system 2, but the visual system 3 can directly identify the position information of the material box 42 to ensure the placement accuracy of the materials.

[0072] The sorting equipment of this application can quickly introduce the recognition and grasping of new materials through large-scale model training, simplifying on-site programming and testing time.

[0073] Please refer to Fig. 9The control system 6 of the present application can control and process various systems in the sorting equipment, such as controlling the movement of the mobile system 1, so as to realize the movement of the action part 11 in the XYZ direction; such as controlling the movement of the robots 21 on both sides of the sorting system 2 to realize the picking and placing of materials; such as controlling the left and right visual systems 3 to identify the materials or material boxes 42, and controlling the middle visual system 3 to identify the material cart 51; no further details are given here to ensure that the corresponding system actions can be controlled according to the feedback information.

[0074] This application also provides a sorting method, please refer to Fig.10 , the method is applied to the above-mentioned sorting device, the method comprising:

[0075] S1: The control system 6 and the material vehicle system 5 exchange information to obtain the model of the material vehicle 51; the control system 6 can realize information exchange with the factory main control unit, and after the material vehicle 51 in the factory carries materials out of the factory, the model information of the material vehicle 51 can be sent to the control system 6;

[0076] S2: The control system 6 generates tasks according to the information of the material cart 51 and the status of the material rack 41;

[0077] S3: According to the real-time position of the robot 21, the control system 6 plans the optimal path for the robot 21 to pick up and place materials; the control system 6 determines the pick-up and placement task with the optimal path for the robot 21 at the current position according to the position of the machine heat;

[0078] S4: The material cart 51 reaches the target sorting station driven by the AGV trolley 52, and the visual system 3 identifies the target 53 on the material cart 51 to obtain the real-time position information of the material cart 51;

[0079] S5: The robots 21 on both sides go to their respective pickup locations according to the path at the same time, and recognize the material information through the visual system 3 and grab the corresponding materials;

[0080] S6: The mobile system 1 drives the robot 21 to the placement position, and the robot 21 places the material in the material box 42 according to the position information of the material box 42, thereby completing the placement;

[0081] S7: Repeat steps S5 to S6 until all materials on the material cart 51 are sorted;

[0082] S8: The material cart 51 moves out of the target sorting station, and steps S1 to S8 are repeated.

[0083] The method realizes intelligent sorting of various materials on the material cart 51 through multi-sensing capabilities and a dual-arm robot 21, and can plan the optimal trajectory according to the different types of material carts 51 and the different materials, so as to achieve the optimal sorting rhythm and optimal sorting efficiency.

[0084] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0085] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A sorting device, characterized in that: include: A moving system (1) comprising a moving member (11) moving in the X, Y and Z directions of three-dimensional coordinates; A sorting system (2) comprising a plurality of robots (21) arranged on the actuating member (11), wherein the wrists of the robots (21) are provided with gripper assemblies (22) for grasping and placing materials; a visual system (3), disposed on the robot (21) and / or the actuating member (11), for identifying the type of material to be grasped and the position of the material cart (51); A material rack system (4), comprising a material rack (41) and a plurality of material boxes (42) arranged in a plurality of layers on the material rack (41), wherein different material boxes (42) are used to store different types of materials; A trolley system (5), comprising a trolley (51) for transporting materials, wherein the trolley (51) is provided with a target (53) for identification by the visual system (3); A control system (6) is connected to the mobile system (1), the sorting system (2) and the visual system (3) and is used to control the movement of the mobile system (1) and the sorting system (2) according to a feedback signal from the visual system (3).

2. The sorting device according to claim 1, characterized in that: The mobile system (1) comprises: The gantry overhead rail comprises two upright posts (12) arranged on the ground, the top ends of the two upright posts (12) are provided with track beams (13) distributed along the Y direction, and the material rack (41) is arranged between the two upright posts (12); A Y-direction sliding member (14) is slidably disposed on the track beam (13) and slides along the Y direction, and an X-direction track distributed along the X direction is disposed on the end surface of the Y-direction sliding member (14); The X-direction sliding member (15) is slidably arranged on the X-direction track and slides along the X-direction. The X-direction sliding member (15) is provided with a Z-direction sliding rail distributed along the Z-direction. The actuating member (11) is slidably matched with the Z-direction sliding rail.

3. The sorting device according to claim 2, characterized in that: The Y-direction sliding member (14) and the track beam (13) are powered by sliding contact, and the moving system (1) further comprises an X-direction driving motor (16) for driving the X-direction sliding member (15) to slide on the X-direction track, and a Z-direction driving motor (17) for driving the action member (11) to slide on the Z-direction slide rail.

4. The sorting device according to claim 1, characterized in that: The number of the robots (21) is at least two, and the two robots (21) are distributed on both sides of the bottom end of the action member (11), and the visual system (3) is respectively arranged on the wrists of the two robots (21) and the bottom end of the action member (11).

5. The sorting device according to claim 1, characterized in that: The gripper assembly (22) comprises one or more of a suction cup gripper (222), a mechanical gripper (221) and a flexible gripper (223); the gripper assembly (22) is detachably connected to the robot (21).

6. The sorting device according to claim 1, characterized in that: It also includes a protection system (7), which is arranged at the bottom of the action end and faces the side of the material cart (51). The protection system (7) is a non-contact area protection system, and the protection system (7) includes one or more of laser radar area protection, visual area protection, or area scanner protection.

7. The sorting device according to claim 1, characterized in that: The material cart system (5) further comprises an AGV trolley (52) arranged on the material cart (51) to drive the material cart (51) to move to a target position.

8. The sorting device according to claim 1, characterized in that: The robot (21) is a six-axis or seven-axis robot.

9. The sorting device according to claim 1, characterized in that: The material boxes (42) on the material rack (41) are at least three layers, and a take-in and put-out opening is provided on the upper side of each layer of the material boxes (42). There is no obstruction between the material boxes (42) and the sorting system (2), so that the visual system (3) can directly identify the position of the material boxes (42).

10. A sorting method, characterized in that: Applied to the sorting device according to any one of claims 1 to 9, the sorting method comprises: S1: The control system (6) and the material vehicle system (5) exchange information to obtain the material vehicle model; S2: The control system (6) generates a task according to the information of the material cart (51) and the status of the material rack (41); S3: Based on the real-time position of the robot (21), the control system (6) plans an optimal path for the robot (21) to pick up and place materials; S4: the material cart (51) arrives at the target sorting station, and the visual system (3) identifies the target (53) on the material cart (51) to obtain the real-time position information of the material cart (51); S5: the robot (21) moves to the pickup position according to the path, and at the same time identifies the material information through the visual system (3) and grabs the corresponding material; S6: The mobile system (1) drives the robot (21) to the placement position, and the robot (21) places the material in the material box (42) according to the position information of the material box (42), thereby completing the placement; S7: Repeat steps S5 to S6 until all materials on the material cart (51) are sorted; S8: The material cart (51) moves out of the target sorting station, and steps S1 to S8 are repeated.

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