Non-standard parts multifunctional processing system and method based on 3D vision drive

Abstract

The present invention provides a non-standard parts multifunctional processing system and method based on 3D vision drive, the system includes a sorting and loading module for transporting non-standard parts to be processed; a processing module for processing the parts to be processed; and a control module for controlling the operation of the sorting and loading module and the processing module. Based on 3D point cloud recognition technology, the present invention designs a non-standard parts multifunctional processing workstation and its system driven by 3D sensor measured data. The system can realize the disorderly sorting, edge milling, edge grinding, edge beveling, surface grinding and polishing, surface spraying and other processing procedures of non-standard parts by relying on real-time collected 3D point cloud data without relying on part drawings, models and other information. It not only solves the problem of automated processing of non-standard parts, but is also compatible with the normal processing work of standard parts, and solves the problem that a single workstation cannot take into account multiple processing operations.

Description

Technical Field

[0001] The present invention relates to the technical field of parts processing, and in particular to a multifunctional processing system and method for non-standard parts based on three-dimensional vision drive. Background Art

[0002] The key technologies of the multifunctional processing workstation for non-standard parts lie in the positioning of parts, the processing and recognition of three-dimensional point clouds of parts, and the planning and generation of processing trajectories.

[0003] The current mainstream non-standard parts automated processing equipment mainly relies on the import of part drawings and models or the input of part templates. The former is not applicable to the non-standard manufacturing industry because most non-standard parts, especially elbow plates, patch plates, non-standard special-shaped steel plates and other parts, do not have corresponding models and cannot be input into models or drawings. In addition, the method of relying on model input is cumbersome in the model programming process, which simply transfers the workload of on-site staff to the programming pressure of programmers, and the automation level is low. The latter relies on on-site part template input, and there are many types of non-standard parts, so a large number of templates need to be manually input before the equipment is put into operation, which increases labor costs and time. Moreover, when there are new parts in the incoming material frame that cannot be matched in the template library, it will cause equipment errors. Therefore, it is necessary to strictly require that the incoming parts have been entered into the parts library, and the requirements for the previous process are high.

[0004] Currently, most automated parts processing equipment only has machining capabilities, requiring manual loading. However, non-standard parts are numerous, mostly made of heavy steel, and often stored in random order, making manual sorting and loading labor intensive. Furthermore, most current parts processing equipment cannot rapidly flip parts over. Double-sided grinding and milling require complex robot-based flipping operations, significantly reducing automated production efficiency.

[0005] Patent document CN114147584A discloses an intelligent grinding device and method for the free edges of hull parts. This technical approach utilizes an earlier two-dimensional image recognition method to perform contour recognition within a two-dimensional image. Contour recognition of two-dimensional images places extremely stringent requirements on the on-site acquisition environment. Factors such as on-site lighting and smoke and dust can affect the acquisition quality of the two-dimensional image, and thus the accuracy of contour recognition. Furthermore, two-dimensional images only provide two-dimensional coordinate information. To ensure high-quality polishing, the robot must be provided with accurate three-dimensional coordinate information of the part. Therefore, this two-dimensional image recognition method has significant drawbacks in terms of polishing quality.

[0006] Patent document CN116551472A discloses a method and system for automatic grinding of ship parts. The technical method is to manually enter template library information, mark the part contour and free edge information in the template library, and then use the template matching method to identify and grind the free edges. The entry of the template library increases labor costs, reduces the efficiency of automated operations, and has poor adaptability to new parts.

[0007] Patent document CN113963129A discloses a point cloud-based template matching and online recognition method for small ship components, which is used in small ship component grinding equipment. This method is also based on template matching of three-dimensional point clouds. It uses ICP point cloud matching to align the parts to be polished with the templates in the parts library. Manual entry of the template library is still required, which increases labor costs, reduces the efficiency of automated operations, and is not adaptable to new parts. Summary of the Invention

[0008] In view of the defects in the prior art, the purpose of the present invention is to provide a non-standard parts multifunctional processing system and method based on three-dimensional vision drive.

[0009] According to the present invention, a non-standard parts multifunctional processing system based on three-dimensional vision drive is provided, comprising:

[0010] Sorting and loading module, used to transport non-standard parts to be processed;

[0011] Processing module, used for processing the parts to be processed;

[0012] Control module, used to control the operation of sorting and loading module and processing module;

[0013] The sorting and loading module includes:

[0014] Loading and sorting tray, used to place the cut parts to be processed;

[0015] The handling robot is used to perform three-dimensional scanning on the loading and sorting trays and transport the parts to be processed to the processing area;

[0016] The 3D vision sensor in the loading area is used to obtain point cloud data of the parts to be processed;

[0017] Magnetic handling device for absorbing and releasing parts to be processed;

[0018] The processing module includes:

[0019] The magnetic reversible processing platform is used to turn over the parts that need double-sided processing;

[0020] Processing robots are used to perform corresponding parts processing work according to the processing path provided by the industrial computer;

[0021] The 3D vision sensor in the processing area is used to perform 3D scanning on the parts to be processed on the magnetic reversible processing platform to obtain 3D point cloud data of the parts to be processed;

[0022] Replaceable processing tools, by replacing different processing tools to process the parts to be processed

[0023] Finished product trays are used to store finished parts.

[0024] Preferably, the control module includes an industrial computer on which the visual software and the host computer system are installed;

[0025] The vision software is used to process 3D point clouds, identify the coordinates of the part's center of mass, and provide them to the handling robot's handling point and posture. It also automatically identifies the part's contour point cloud and surface point cloud, the edges of the part to be processed, and the surface point cloud information of the part that needs to be polished or sprayed, and sends the generated processing trajectory to the polishing robot.

[0026] The host computer system is used to control the program operation of the robot.

[0027] Preferably, the control module also includes a PLC control cabinet for starting, stopping and monitoring control of the system.

[0028] Preferably, the three-dimensional visual sensor in the loading area and the magnetic handling device are installed at the end of the three-dimensional visual sensor in the loading area.

[0029] Preferably, the processing area three-dimensional vision sensor and the replaceable processing tool are installed on the flange end of the processing robot.

[0030] Preferably, the magnetic reversible processing platform includes a first magnetic processing station and a second magnetic processing station; the magnetization of the stations is controlled by PLC to absorb the parts to be processed; the first magnetic processing station can be connected to the rotating axis and flipped by the PLC host computer system.

[0031] Preferably, the replaceable machining tool can replace tools including a floating force-controlled grinding head, a floating force-controlled milling tool, a floating force-controlled grinding wheel, a bevel cutting tool and a spraying tool.

[0032] Preferably, it is capable of completing random sorting, edge milling, edge grinding, edge beveling, surface grinding and polishing, and surface spraying of parts to be processed.

[0033] According to the present invention, a multifunctional processing method for non-standard parts based on three-dimensional vision driving is provided, comprising:

[0034] Step S1: Move the transport robot to the top of the loading and sorting tray and use the 3D vision sensor in the loading area at the end to scan the loading and sorting tray to obtain raw point cloud data;

[0035] Step S2: The original point cloud data is sent to the control module, and the background point cloud and interference point cloud of the loading and sorting tray are filtered out through the point cloud preprocessing algorithm, and the point cloud of the parts above the loading and sorting tray is retained;

[0036] Step S3: The 3D point cloud processing algorithm based on the vision software automatically segments the point cloud of the randomly stacked parts and identifies the topmost graspable parts; calculates the centroid coordinates of the part point cloud, converts the coordinates to the robot coordinate system, and sends them to the handling robot;

[0037] Step S4: The handling robot is moved to the top of the part according to the part coordinates, and the magnetic handling device is controlled to be magnetized to adsorb the part onto the magnetic handling device;

[0038] Step S5: The handling robot moves the part to the top of the magnetic reversible processing platform, controls the magnetic handling device to demagnetize, places the part on the first magnetic processing station, and controls the magnetic reversible processing platform to magnetize to attract the part to be processed;

[0039] Step S6: The processing robot moves to the top of the magnetic reversible processing platform, and uses the processing area 3D vision sensor at the end to perform a 3D scan on the front of the part to be processed to obtain original point cloud data;

[0040] Step S7: The original point cloud data is sent to the control module, and the background point cloud and interference point cloud are filtered out through the point cloud preprocessing algorithm, and the point cloud of the part to be processed is retained;

[0041] Step S8: extracting the outer contour of the part to be processed based on a three-dimensional point cloud processing algorithm and performing point cloud analysis, and automatically distinguishing the area to be processed based on part processing rules;

[0042] Step S9: extract the free edges to be processed, generate a free edge processing path, including the path point coordinates and processing posture, and send it to the processing robot;

[0043] Step S10: The processing robot performs processing according to the processing path provided by the system;

[0044] Step S11: Process the other side to complete the processing.

[0045] Preferably, the step S11 includes the following sub-steps:

[0046] Step S11.1: The flip mechanism of the magnetic flip processing platform flips and demagnetizes one side of the platform, flips the part to be processed onto the other side of the processing platform, controls the one side of the platform to reset, and magnetizes the other side of the platform, adsorbing the part onto the second magnetic processing station;

[0047] Step S11.2: Move the processing robot to the top of the magnetic reversible processing platform and use the 3D vision sensor in the processing area at the end to perform a 3D scan of the back side of the part to be processed, and repeat steps S7 to S10;

[0048] Step S11.3: After both the front and back sides of the part have been processed, the handling robot is moved to the top of the magnetic reversible processing platform. The 3D vision sensor in the end processing area is used to perform a 3D scan and photograph of the finished part. Steps S2-S3 are repeated to obtain the center of mass coordinates of the finished part.

[0049] Step S11.4: The handling robot uses a magnetic handling device to absorb the finished parts according to the coordinates calculated by the system and places the parts on the finished product tray;

[0050] Step S11.5: Move the transport robot to the top of the loading and sorting tray, and repeat steps S1 to S11 until it is detected that there are no parts in the loading and sorting tray.

[0051] Compared with the prior art, the present invention has the following beneficial effects:

[0052] 1. Based on 3D point cloud recognition technology, the present invention designs a multifunctional non-standard parts processing workstation and its system driven by 3D sensor measured data. It does not rely on part drawings, models and other information, but relies on real-time collected 3D point cloud data to realize various processing procedures such as random sorting, edge milling, edge grinding, edge beveling, surface grinding and polishing, and surface spraying for non-standard parts. It not only solves the problem of automated processing of non-standard parts, but is also compatible with the normal processing of standard parts, and solves the problem that a single workstation cannot take care of multiple processing operations.

[0053] 2. The present invention realizes double-sided processing of parts at the same processing station by designing a reversible magnetic processing platform; the traditional flipping process generally requires an additional flipping table. The robot grabs the part and places it on the flipping table, grabs the part from the other side, and then places it back on the processing platform to flip the part. The entire flipping process takes about 2 minutes, while the reversible magnetic processing platform of the present invention only takes 10 seconds to flip, which is 12 times more efficient, effectively solving the problem of cumbersome and inefficient flipping process for non-standard parts.

[0054] 3. The equipment in the present invention adopts a modular design, so the workstation solution is flexible and changeable. The loading module and the processing module can be expanded according to the production capacity requirements to achieve 1-to-1 or many-to-many module pairing to improve production capacity and efficiency, or based on a collaborative robot and a mobile base, a small mobile polishing workstation is formed with a processing module, making the processing mode more flexible; at the same time, since the two modules can operate independently, the automatic loading module can be replaced with manual loading according to the budget to reduce costs. Removing the automatic loading module can directly save the hardware cost of a robot and an industrial camera, reducing the overall cost by about 40%.

[0055] Other beneficial effects of the present invention will be explained through the introduction of specific technical features and technical solutions in the specific implementation methods. Those skilled in the art should be able to understand the beneficial technical effects brought about by the introduction of these technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0057] Figure 1 Schematic diagram of the system structure of the present invention.

[0058] Figure 2 Flow chart of the method of the present invention.

[0059] Description of Reference Numerals

[0060] Loading and sorting tray 1 Processing area 3D vision sensor 7

[0061] Handling robot 2 Replaceable processing tools 8

[0062] 3D vision sensor in loading area 3 Finished product tray 9

[0063] Magnetic transport device 4 Industrial computer 10

[0064] Magnetic reversible processing platform 5 PLC control cabinet 11

[0065] Processing Robot 6 DETAILED DESCRIPTION

[0066] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0067] Example 1

[0068] Reference Figure 1 As shown, a multifunctional processing system for non-standard parts based on 3D vision drive includes a processing workstation.

[0069] The workstation consists of a sorting and loading module and a processing module. The sorting and loading module consists of a loading and sorting tray 1, a three-dimensional visual sensor in the loading area 3, a handling robot 2, and a magnetic handling device 4; the processing module consists of a magnetic reversible processing platform 5, a three-dimensional visual sensor in the processing area 7, a processing robot 6, replaceable processing tools 8, and a finished product tray 9. The two modules are jointly controlled by a PLC control cabinet 11, an industrial computer 10, as well as visual recognition software and host computer software.

[0070] In the sorting and loading module, the loading area three-dimensional vision sensor 3 and the magnetic handling device 4 are installed at the flange end of the handling robot 2, and the replaceable processing tool 8 and the processing area three-dimensional vision sensor 7 in the processing module are installed at the flange end of the processing robot 6.

[0071] The loading and sorting tray 1 is used to place the non-standard parts that need to be processed after cutting, and they are manually stacked and placed in the loading and sorting tray 1 according to their types.

[0072] The end of the handling robot 2 is equipped with the loading area 3D vision sensor 3 and a magnetic handling device 4, which are used to perform a 3D scan of the loading and sorting tray 1 and transport parts to the processing area. The magnetic reversible processing platform 5 includes two magnetic processing stations, A and B. The stations are magnetized and demagnetized using a PLC, which attracts the parts to the stations. Station A is connected to a rotatable shaft and is flipped through the PLC and the host computer system, enabling rapid flipping of parts requiring double-sided processing.

[0073] The end of the processing robot 6 is equipped with a three-dimensional vision sensor 7 of the processing area and a replaceable processing tool 8, which performs three-dimensional scanning of the workpiece to be processed on the grinding platform, and performs corresponding parts processing work through corresponding processing tools, such as floating force-controlled grinding heads, floating force-controlled milling tools, floating force-controlled grinding wheels, beveling cutting tools, spraying tools, etc.

[0074] The finished product tray 9 is used to store the finished parts that have been processed.

[0075] The industrial computer 10 is equipped with vision software and a host computer system. The vision software processes 3D point clouds, identifies the coordinates of the part's center of mass, and provides them to the handling robot 2. It also automatically identifies part contour and surface point clouds, automatically identifying machining edges and surface point clouds for parts requiring polishing or painting. This software generates machining trajectories and sends them to the polishing robot. The host computer system controls the robot's program execution.

[0076] The PLC system is responsible for the start and stop of the entire equipment, and the overall process monitoring and control, including the magnetization, demagnetization, and flipping operations of the magnetic reversible processing platform 5.

[0077] This workstation can support a variety of non-standard parts processing, including random sorting of parts, edge milling, edge grinding, edge beveling, surface grinding and polishing, surface spraying, etc. Taking part edge milling as an example, its working principle is as follows:

[0078] Workers place the non-standard parts that need to be milled after cutting into the loading and sorting tray 1 according to their types. The handling robot 2 moves to the top of the loading and sorting tray 1. The three-dimensional vision sensor 3 in the loading area takes a picture of the loading area to obtain the point cloud of the parts in the loading area. The vision system in the industrial computer 10 automatically identifies the parts that can be transported. After calculating the center of mass of the parts, the handling robot 2 transports the parts to the processing area A of the magnetic flip processing platform 5 through the magnetic handling device 4.

[0079] The processing robot 6 moves to above processing area A. The processing area 3D vision sensor 7 performs a 3D scan of the part to be polished, acquiring a 3D point cloud of the part. The vision system within the industrial computer 10 identifies the part's contour and automatically identifies the free edge to be polished according to the milling rules. The processing path is then transmitted to the processing robot 6. During the free edge milling operation, the replaceable processing tool 8 is a floating force-controlled milling cutter, which the milling robot uses to mill and polish the free edge. After milling, the magnetic reversible processing platform 5 flips the part over. The processing area 3D vision sensor 7 scans the back of the part, and the processing robot 6 performs free edge milling on the back free edge of the part. After completion, the handling robot 2 moves above the processing platform and uses the loading area 3D vision sensor 3 to scan the finished workpiece. The system automatically identifies the finished workpiece on the processing platform, and the handling robot 2 uses the magnetic handling device 4 to move the finished part to the finished product tray 9. This operation is repeated until all parts on the loading and sorting tray 1 have been processed.

[0080] Based on 3D point cloud recognition technology, the present invention designs a multifunctional processing workstation and system for non-standard parts driven by measured data from 3D sensors. The workstation does not rely on part drawings, models and other information, but is driven by real-time collected 3D point cloud data to realize various processing procedures such as random sorting, edge milling, edge grinding, edge beveling, surface grinding and polishing, and surface spraying for non-standard parts. It not only solves the problem of automated processing of non-standard parts, but is also compatible with the normal processing of standard parts, and solves the problem that a single workstation cannot take into account multiple processing operations.

[0081] Example 2

[0082] Reference Figure 2 As shown, taking the edge milling of non-standard parts as an example, the specific workflow is as follows:

[0083] Step S1: After the system is started, the transport robot 2 moves to the top of the loading and sorting tray 1 and uses the loading area three-dimensional vision sensor 3 at the end to scan the loading and sorting tray 1.

[0084] Step S2: After the three-dimensional visual sensor 3 in the loading area obtains the original point cloud of the loading and sorting tray 1 area, it sends the point cloud data to the system. The system uses the point cloud preprocessing algorithm to filter out the background point cloud and interference point cloud of the loading and sorting tray 1, and retains the part point cloud above the loading and sorting tray 1.

[0085] Step S3: Through the three-dimensional point cloud processing algorithm of the visual software, the point cloud of the randomly stacked parts is automatically segmented, the top-level graspable parts are identified, the center of mass coordinates of the part point cloud are calculated, and the coordinates are converted to the robot coordinate system and sent to the handling robot 2.

[0086] Step S3.1: The formula for calculating the centroid of the part point cloud is as follows:

[0087]

[0088] Among them, P c is the coordinate of the center of mass of the part, r i =(x i ,y i , z i ), i=1,2,..,n are the coordinates of each point, m i is the corresponding mass of the point. Generally, the mass of the parts to be processed is evenly distributed. m i Usually it is set to 1, and the centroid calculation formula can be converted into the following formula:

[0089]

[0090] Step S3.2: P c The formula for converting to the robot base coordinate system is as follows:

[0091] P bsee =RP c +T

[0092] Among them, P base is the coordinate of the part's center of mass in the robot's base coordinate system. R and T are the rotation matrix parameters and translation matrix parameters after the robot's hand-eye calibration, respectively. The two parameters constitute the external parameters of the robot's hand-eye calibration and can be queried in the robot system.

[0093] Step S4: The handling robot 2 moves to the top of the part according to the part coordinates, and the system controls the magnetic handling device 4 to magnetize and adsorb the part onto the handling device.

[0094] Step S5: The handling robot 2 carries the parts and moves to the top of the processing platform. The system controls the magnetic handling device 4 to demagnetize and places the parts on the processing area A on one side of the magnetic reversible processing platform 5. The system controls the magnetic reversible processing platform 5 to magnetize and adsorb the parts to be milled.

[0095] Step S6: The milling robot moves to the top of the processing platform and uses the processing area three-dimensional vision sensor 7 at the end to perform a three-dimensional scan on the front of the part to be milled.

[0096] Step S7: After the three-dimensional vision sensor 7 in the processing area obtains the original point cloud of the part to be milled, it is sent to the system. The system uses the point cloud preprocessing algorithm to filter out the background point cloud of the processing platform and the interference point cloud, and retains the point cloud of the part to be milled.

[0097] Step S8: Based on the three-dimensional point cloud processing algorithm, the outer contour of the part to be milled is extracted, and the point cloud analysis is performed on the outer contour. Based on the part milling rules, the free edges that need to be milled and the welding edges that do not need to be milled are automatically distinguished.

[0098] Step S9: extract the free edge to be milled, generate a free edge milling path, including the path point coordinates and milling posture, and send it to the milling robot.

[0099] Step S10: The milling robot performs free edge milling according to the milling path provided by the system. The floating force-controlled milling tool monitors the milling force during the milling process to keep the milling force constant and ensure the milling quality.

[0100] Step S11: After the single-sided free edge milling is completed, the system controls the flipping mechanism of the flipping platform to flip and demagnetize one side of the platform, and flip the part to the other side of the processing platform. The system controls the platform on one side to reset and magnetize the other platform to adsorb the part on the processing area B.

[0101] Step S12: The milling robot moves to the top of the milling platform and uses the three-dimensional vision sensor at the end to perform a three-dimensional scan on the back of the part to be milled, and repeats steps S7 to S10.

[0102] Step S13: After the front and back sides of the part are milled, the handling robot 2 moves to the top of the processing platform, uses the end 3D vision sensor to perform a 3D scan and take pictures of the finished part, and repeats steps S2-S3 to obtain the center of mass coordinates of the finished part.

[0103] Step S14: The transport robot 2 uses the magnetic transport device 4 to absorb the finished parts according to the coordinates calculated by the system and places the parts into the finished product tray 9.

[0104] Step S15: The transport robot 2 moves to the top of the loading and sorting tray 1 and repeats steps S1 to S14 until it detects that there are no parts in the loading and sorting tray 1, and the workflow ends.

[0105] Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, and units provided by the present invention in purely computer-readable program code, it is entirely possible to implement the same functions of the system and its various devices, modules, and units provided by the present invention in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; the devices, modules, and units for implementing various functions can also be considered as both software modules implementing the method and structures within the hardware component.

[0106] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A multifunctional processing system for non-standard parts based on 3D vision drive, characterized by: include: Sorting and loading module, used to transport non-standard parts to be processed; Processing module, used for processing the parts to be processed; Control module, used to control the operation of sorting and loading module and processing module; The sorting and loading module includes: A loading and sorting tray (1) is used to place the cut parts to be processed; A handling robot (2) is used to perform three-dimensional scanning on the loading and sorting tray (1) and to carry the parts to be processed to the processing area; A three-dimensional vision sensor (3) in the loading area is used to obtain point cloud data of the parts to be processed; A magnetic suction transport device (4) for absorbing and releasing the parts to be processed; The processing module includes: A magnetic reversible processing platform (5) is used to turn over parts to be processed that require double-sided processing; A processing robot (6) is used to perform corresponding parts processing work according to a processing path provided by an industrial control computer (10); A three-dimensional visual sensor (7) in the processing area is used to perform three-dimensional scanning on the parts to be processed on the magnetic reversible processing platform (5) to obtain three-dimensional point cloud data of the parts to be processed; Replaceable processing tools (8), by replacing different processing tools to process the parts to be processed The finished product tray (9) is used to store the finished product parts that have been processed.

2. The non-standard parts multifunctional processing system based on 3D vision drive according to claim 1 is characterized in that: The control module includes an industrial computer (10) on which visual software and a host computer system are installed; The visual software is used to process the three-dimensional point cloud, identify the coordinates of the center of mass of the part, and provide the handling point and posture to the handling robot (2); automatically identify the part contour point cloud and surface point cloud, the edge of the part to be processed, and the surface point cloud information of the part that needs to be polished or sprayed, and send the generated processing trajectory to the polishing robot; The host computer system is used to control the program operation of the robot.

3. The non-standard parts multifunctional processing system based on 3D vision drive according to claim 2 is characterized in that: The control module also includes a PLC control cabinet (11) for starting, stopping and monitoring the system.

4. The non-standard parts multifunctional processing system based on 3D vision drive according to claim 1 is characterized in that: The three-dimensional visual sensor (3) in the material loading area and the magnetic suction type transport device (4) are installed at the end of the three-dimensional visual sensor (3) in the material loading area.

5. The non-standard parts multifunctional processing system based on 3D vision drive according to claim 1 is characterized in that: The processing area three-dimensional vision sensor (7) and the replaceable processing tool (8) are installed on the flange end of the processing robot (6).

6. The non-standard parts multifunctional processing system based on 3D vision drive according to claim 1 is characterized in that: The magnetic attraction type reversible processing platform (5) comprises a first magnetic attraction type processing station and a second magnetic attraction type processing station; the magnetization of the stations is controlled by a PLC to absorb the parts to be processed; the first magnetic attraction type processing station can be connected to a rotating shaft and can be reversed by a PLC host computer system.

7. The non-standard parts multifunctional processing system based on 3D vision drive according to claim 1 is characterized in that: The replaceable processing tool (8) can replace tools including a floating force-controlled grinding head, a floating force-controlled milling tool, a floating force-controlled grinding wheel, a bevel cutting tool and a spraying tool.

8. The non-standard parts multifunctional processing system based on 3D vision drive according to claim 1 is characterized in that: It can complete the random sorting, edge milling, edge grinding, edge beveling, surface grinding and polishing, and surface spraying of the parts to be processed.

9. A method for multifunctional processing of non-standard parts based on 3D vision drive, based on the multifunctional processing system for non-standard parts based on 3D vision drive according to any one of claims 1 to 8, characterized in that: include: Step S1: Move the transport robot (2) above the loading and sorting tray (1), and use the loading area three-dimensional vision sensor (3) at the end to scan the loading and sorting tray (1) to obtain original point cloud data; Step S2: sending the original point cloud data to the control module, filtering out the background point cloud and interference point cloud of the loading and sorting tray (1) through the point cloud preprocessing algorithm, and retaining the part point cloud above the loading and sorting tray (1); Step S3: The 3D point cloud processing algorithm based on the vision software automatically segments the point cloud of the randomly stacked parts and identifies the topmost graspable parts; Calculate the coordinates of the center of mass of the part point cloud, convert the coordinates into the robot coordinate system, and send them to the handling robot (2); Step S4: The transport robot (2) is moved to the top of the part according to the part coordinates, and the magnetic transport device (4) is controlled to be magnetized to adsorb the part onto the magnetic transport device (4); Step S5: The handling robot (2) carries the part and moves it to the top of the magnetic reversible processing platform (5), controls the magnetic handling device (4) to demagnetize, places the part on the first magnetic processing station, controls the magnetic reversible processing platform (5) to magnetize, and absorbs the part to be processed; Step S6: The processing robot (6) is moved to the top of the magnetic reversible processing platform (5), and the processing area three-dimensional vision sensor (7) at the end is used to perform a three-dimensional scan on the front of the part to be processed to obtain original point cloud data; Step S7: The original point cloud data is sent to the control module, and the background point cloud and interference point cloud are filtered out through the point cloud preprocessing algorithm, and the point cloud of the part to be processed is retained; Step S8: extracting the outer contour of the part to be processed based on a three-dimensional point cloud processing algorithm and performing point cloud analysis, and automatically distinguishing the area to be processed based on part processing rules; Step S9: extract the free edge to be processed, generate a free edge processing path, including the path point coordinates and processing posture, and send it to the processing robot (6); Step S10: the processing robot (6) performs processing according to the processing path provided by the system; Step S11: Process the other side to complete the processing.

10. The multifunctional processing method for non-standard parts based on 3D vision drive according to claim 9 is characterized in that: The step S11 includes the following sub-steps: Step S11.1: The flip mechanism of the magnetic flip processing platform (5) flips and demagnetizes one side of the platform, flips the part to be processed onto the other side of the processing platform, controls the platform on one side to reset, and magnetizes the other side of the platform, and adsorbs the part onto the second magnetic processing station; Step S11.2: Move the processing robot (6) to the top of the magnetic reversible processing platform (5), and use the processing area 3D vision sensor (7) at the end to perform a 3D scan of the back of the part to be processed, and repeat steps S7- Step S10; Step S11.3: After the front and back sides of the part are processed, the handling robot (2) is moved to the top of the magnetic reversible processing platform (5), and the three-dimensional visual sensor (7) in the end processing area is used to perform a three-dimensional scanning and photographing of the finished part. Steps S2 to S3 are repeated to obtain the coordinates of the center of mass of the finished part. Step S11.4: The handling robot (2) uses the magnetic handling device (4) to absorb the finished parts according to the coordinates calculated by the system and places the parts on the finished product tray (9); Step S11.5: Move the transport robot (2) to the top of the loading and sorting tray (1), and repeat steps S1 to S11 until it is detected that there are no parts in the loading and sorting tray (1).

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