WO2020173111A1 - 一种 3d 微涂覆机器人及其涂覆方法 - Google Patents

一种 3d 微涂覆机器人及其涂覆方法 Download PDF

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Publication number
WO2020173111A1
WO2020173111A1 PCT/CN2019/113459 CN2019113459W WO2020173111A1 WO 2020173111 A1 WO2020173111 A1 WO 2020173111A1 CN 2019113459 W CN2019113459 W CN 2019113459W WO 2020173111 A1 WO2020173111 A1 WO 2020173111A1
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Prior art keywords
coating
workpiece
robot
coated
micro
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PCT/CN2019/113459
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English (en)
French (fr)
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胡跃明
陈雅倩
杜娟
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华南理工大学
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Publication of WO2020173111A1 publication Critical patent/WO2020173111A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
    • B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B05B15/50—Arrangements for cleaning; Arrangements for preventing deposits, drying-out or blockage; Arrangements for detecting improper discharge caused by the presence of foreign matter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the invention relates to the technical field of robot coating, in particular to a 3D micro-coating robot and a coating method thereof.
  • Coating robots are an important application of robots in the field of industrial automation. A large number of robot coating workstations or production lines make full use of the robot's flexible, stable and efficient characteristics, and are suitable for workpieces with large production volumes, multiple product models, and irregular surface shapes. The surface coating greatly improves the production efficiency.
  • the purpose of the present invention is to overcome the above shortcomings of the prior art and provide a 3D micro-coating robot, a 3D micro-coating robot system and a 3D micro-coating robot coating method.
  • a 3D micro-coating robot includes: an industrial robot; the industrial robot is provided with N joint shafts, N ⁇ 2; the industrial robot is provided with a first servo motor that controls the rotation of the joint shaft, the industrial robot A base is installed at the bottom of the base, and a second servo motor that controls the horizontal rotation of the industrial robot is installed in the base; the end of the joint shaft is provided with a terminal nozzle device, a coating material loading mechanism, and a dual device for obtaining three-dimensional data of the workpiece to be coated With a visual camera, the coating material loading mechanism includes a double barrel and a photoelectric sensor installed beside the double barrel to control the left and right circulation of the double barrel; the terminal sprinkler device is connected to the double barrel through a pipeline.
  • a non-slip rubber pad is added to the base.
  • N 6
  • the terminal spray head device is an atomized spray head.
  • the terminal spray head device, the coating material loading mechanism and the binocular vision camera are all installed at the end of the joint shaft through a flange block.
  • a 3D micro-coating robot system includes: a 3D vision positioning module, a coating material terminal execution module, a coating control module, and a robot control module; the 3D vision positioning module is used to obtain three-dimensional data of a workpiece to be coated, Obtain the three-dimensional coordinate position of the workpiece to be coated according to the three-dimensional data, and send the three-dimensional coordinate position of the workpiece to the coating control module and the robot control module; the robot control module is configured to adopt a smooth curve according to the three-dimensional coordinate position
  • the normalized interpolation control method performs spatial planning and controls the movement of the industrial robot; the coating control module is used to classify the workpiece to be coated, select the coating path, and modify the coating position according to the three-dimensional coordinate position , And control the coating material terminal execution module to perform the coating action on the workpiece to be coated; the coating material terminal execution module includes a double-barrel circulating stirring unit and a terminal nozzle device.
  • the double-barrel circulating stirring unit is used for coating The materials in
  • the 3D vision positioning module includes: a binocular vision camera, an image processing unit and a workpiece positioning unit; the binocular vision camera is used to scan the workpiece to be coated to obtain three-dimensional data of the workpiece to be coated, and Send the three-dimensional data to the image processing unit and the workpiece positioning unit; the image processing unit is used to process the three-dimensional data using the deep learning algorithm to obtain the coating trajectory; the workpiece positioning unit is used to denoise the three-dimensional image data , And use the depth-based edge segmentation algorithm to extract the depth image contour of the workpiece to be coated to obtain the three-dimensional coordinate position of the workpiece to be coated.
  • the coating method of the aforementioned 3D micro-coating robot includes:
  • the binocular vision camera performs fast laser scanning on the workpiece to be coated to obtain three-dimensional data
  • the industrial robot uses a smooth curve normalized interpolation control method to perform spatial planning according to the three-dimensional coordinate position, and controls the motion of the industrial robot according to the spatial planning;
  • S3 classify the workpiece to be coated according to the three-dimensional coordinate position, select a coating path, compare the selected coating path with a preset coating position, and correct the coating position online;
  • the industrial robot opens the double barrels of the coating material loading mechanism to perform a circulating mixing mode
  • step S2 includes:
  • S21 Perform image processing according to the high-precision three-dimensional data to calculate the position and posture of the coated critical path point;
  • step S5 includes: the terminal spray head device on the industrial robot performs plane coating or curved surface coating.
  • the present invention has the following advantages:
  • the industrial robot of this scheme is equipped with N joint axes, including N degrees of freedom. Multiple degrees of freedom can improve the flexibility of robot movement; the 3D vision positioning module applied to the industrial robot can accurately obtain the position of the workpiece to be coated and Transfer to the coating control module and the robot control module; the robot control module uses the interpolation method of the smooth curve structure normalization operator to perform spatial planning and motion control, which can effectively control the speed and acceleration of the industrial robot to change smoothly, thereby reducing the rapidity The impact of the movement of the robot on the robot mechanism; the coating control module intelligently selects the coating path, which can effectively improve the coating efficiency of the workpiece; the coating material loading mechanism uses double barrels to stir and defoam, which can avoid the blockage caused by the long pipeline.
  • the invention can be applied to the surface treatment process of various objects such as automatic paint spraying, and greatly improves coating reliability and intelligence.
  • Fig. 1 is a structural diagram of the 3D micro-coating robot of the present invention.
  • Fig. 2 is a structural block diagram of the 3D micro-coating robot system of the present invention.
  • Fig. 3 is a schematic flow chart of the coating method of the 3D micro-coating robot of the present invention.
  • a 3D micro-coating robot includes: an industrial robot 11; the industrial robot 11 is provided with N joint axes, N ⁇ 2; the industrial robot 11 is provided with a first joint axis rotation control Servo motor.
  • a base 16 is installed at the bottom of the industrial robot 11.
  • the base 16 is provided with a second servo motor that controls the horizontal rotation of the industrial robot 11;
  • the end of the joint shaft is provided with a terminal nozzle device 12, a coating material loading mechanism and A binocular vision camera 15 for acquiring three-dimensional data of the workpiece 17 to be coated.
  • the coating material loading mechanism includes a double barrel 13 and a photoelectric sensor 14 installed next to the double barrel 13 to control the left and right circulation of the double barrel 13; a terminal nozzle
  • the device 12 is connected to the double barrel 13 through a pipeline.
  • a non-slip rubber pad is added to the base 16 to reduce the wear of the mechanical structure of the industrial robot 11 during the movement.
  • N 6.
  • the six first servo motors directly drive the rotation of the six joint shafts of the six-axis industrial robot 11 through a reducer, a timing belt wheel, etc., and the six joint shafts can realize motion control by rotating in six different directions.
  • the terminal spray head device 12 can select a suitable spray head according to the coating process and material.
  • the terminal spray head device 12 is an atomized spray head.
  • the photoelectric sensor 14 is installed next to the double barrel 13 to control the double barrel 13 to circulate around, so that the coating material in the double barrel 13 can be stirred and defoamed online.
  • the terminal spray head device 12, the coating material loading mechanism and the binocular vision camera 15 are all installed at the end of the joint shaft through a flange block 18.
  • the bottom of the binocular vision camera 15 is provided with a protective cover.
  • the protective cover is opened and closed by pushing and pulling of the cylinder, which can be used to protect the lens of the precise binocular vision camera 15.
  • the 3D micro-coating robot system applied in the above-mentioned 3D micro-coating robot includes: a 3D vision positioning module, a coating material terminal execution module, a coating control module and a robot control module; the 3D vision positioning module , Used to obtain three-dimensional data of the workpiece 17 to be coated, obtain the three-dimensional coordinate position of the workpiece 17 to be coated according to the three-dimensional data, and send the three-dimensional coordinate position of the workpiece to the coating control module and the robot control module; the robot The control module is used to perform space planning according to the three-dimensional coordinate position using a smooth curve normalized interpolation control method, and to control the movement of the industrial robot 11; the coating control module is used to perform the spatial planning according to the three-dimensional coordinate position The coated workpieces 17 are classified, the coating path is selected, the coating position is corrected, and the coating material terminal execution module is controlled to perform the coating action on the workpiece 17 to be coated.
  • the coating material terminal execution module includes a double barrel 13 circulating stirring unit and a terminal nozzle device 12.
  • the double barrel 13 circulating stirring unit is used for material stirring and defoaming during the coating process, and the terminal nozzle device 12 is used The coating action is performed on the workpiece 17 to be coated.
  • the 3D vision positioning module includes: a binocular vision camera 15, an image processing unit, and a workpiece positioning unit; the binocular vision camera 15 is used to scan the workpiece 17 to be coated to obtain the workpiece to be coated 17 three-dimensional data, and send the three-dimensional data to the image processing unit and the workpiece positioning unit; the image processing unit is used to process the three-dimensional data using the deep learning algorithm to obtain the coating trajectory; the workpiece positioning unit is used to The image data is subjected to denoising processing, and the depth image contour of the workpiece 17 to be coated is extracted using a depth-based edge segmentation algorithm to obtain the three-dimensional coordinate position of the workpiece 17 to be coated.
  • the 3D vision positioning module is responsible for the accurate measurement and positioning of the workpiece position, and transmits the workpiece position information to the coating control module and the robot control module through network communication;
  • the robot control module is responsible for performing space planning and Motion control is a key module for realizing the trajectory interpolation movement of the industrial robot 11, and is used to flexibly control the point movement and continuous movement of the industrial robot 11.
  • the coating control module is responsible for extracting the shape features of the workpiece according to the three-dimensional image data of the workpiece obtained by the binocular vision camera 15, and intelligently selecting the coating path, correcting the coating position, and executing the coating task.
  • the double barrel 13 circulating stirring unit implements material stirring work by controlling the air pressure difference between the left and right barrels.
  • the coating method of the aforementioned 3D micro-coating robot includes:
  • the binocular vision camera 15 performs fast laser scanning of the workpiece 17 to be coated to obtain three-dimensional data
  • the industrial robot 11 uses a smooth curve normalized interpolation control method to perform spatial planning according to the three-dimensional coordinate position, and controls the motion of the industrial robot 11 according to the spatial planning;
  • S3 classify the workpiece 17 to be coated according to the three-dimensional coordinate position, select a coating path, compare the selected coating path with a preset coating position, and correct the coating position online;
  • the industrial robot 11 opens the double barrel 13 of the coating material loading mechanism to perform a circulating stirring mode
  • step S5 controlling the terminal spray head device 12 on the industrial robot 11 to move to the coating area to perform the coating action.
  • step S5 includes: the terminal spray head device 12 on the industrial robot 11 performs plane coating or curved surface coating.
  • step S2 includes:
  • S21 Perform image processing according to the high-precision three-dimensional data to calculate the position and posture of the coated critical path point;
  • the interpolation algorithm of the smooth normalized time operator can use different smooth curves, and the goal is to ensure smooth speed and continuous acceleration of the robot end effector.
  • the "S-shaped" acceleration and deceleration curve is characterized in that the speed of the robot end effector along the straight line or the arc tangent direction changes in an "S-shaped” acceleration and deceleration curve. Interpolate the position and posture of the robot to make it move continuously and smoothly, which can effectively reduce the impact when the robot system starts or stops.
  • step S5 the method further includes: determining whether the coating area of the workpiece 17 to be coated has been sprayed. If completed, the workpiece 17 to be coated is unloaded. Otherwise, go to step S5.
  • the coating method of the 3D micro-coating robot of this scheme is not only suitable for coating the outer surface of workpieces with large production volume, multiple product models, and irregular surface shapes, and uniformly mixing coating materials, but also intelligently selecting coating paths , Precisely locate the position of the coated workpiece and correct the coating track, so as to ensure the uniformity of the coating effect, especially suitable for high-precision coating requirements.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Spray Control Apparatus (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

一种3D微涂覆机器人系统，包括：3D视觉定位模块、涂覆材料终端执行模块、涂覆控制模块和机器人控制模块；所述3D视觉定位模块，用于获取待涂覆工件（17）的三维数据，根据所述三维数据得到待涂覆工件（17）的三维坐标位置，并将工件（17）的三维坐标位置发送到涂覆控制模块和机器人控制模块；机器人控制模块采用平滑曲线构造归一化算子的插补方法执行空间规划与运动控制，可以有效控制工业机器人（11）的速度和加速度平稳变化，从而减小急速的运动对机器人机构的冲击；涂覆控制模块智能选取涂覆路径，能有效提高工件涂覆效率；涂覆材料装载机构采用双料筒循环搅拌除泡，可避免管路过长而引起的堵塞。

Description

一种3D微涂覆机器人及其涂覆方法 技术领域
本发明涉及机器人涂覆技术领域，具体涉及一种3D微涂覆机器人及其涂覆方法。
 背景技术
目前涂覆工艺不断发展和完善，用户对涂覆材料，涂覆方式、速度和精度要求越来越高，传统的人工涂覆作业在质量成本和安全效率方面已经无法满足。部分使用多轴联动机床的涂覆方式虽然可以在一定程度上进行自动化涂覆，但是对于表面形状不规则的工件涂覆就会出现无法全面作业的问题。涂覆机器人是机器人在工业自动化领域的重要应用，大量机器人涂覆工作站或生产线充分利用了机器人的灵活、稳定、高效的特点，适用于生产量大、产品型号多、表面形状不规则的工件外表面的涂覆，极大的提高了生产效率。
在涂覆领域常常需要准确定位涂覆工件的位置，需要对机器人终端执行器的运动轨迹进行严格控制，传统涂覆机器人多采用示教盒等外部设备进行工件定位和轨迹插补，但这种方式路径单一、较为繁琐且位置和姿态的精度也不高；在对机器人终端执行器做轨迹插补时，通常期望其运动轨迹是平滑的，但由于无法很好控制速度和加速度平稳变化而导致急速的运动加剧机构的磨损。此外，传统的涂覆材料搅拌机构由于管路过长的限制，常常导致涂覆材料还未到达喷头就已沉淀，从而使管路堵塞。因此，行业内急需研发一种可以准确定位涂覆工件的位置并智能选取涂覆路径的涂覆机器人。
 技术问题
传统涂覆机器人多采用示教盒等外部设备进行工件定位和轨迹插补，但这种定位的路径单一、定位过程较为繁琐且定位的位置和姿态的精度也不高；在对机器人终端执行器做轨迹插补时，通常期望其运动轨迹是平滑的。但由于无法很好控制传统涂覆机器人的速度和加速度平稳变化，传统涂覆机器人急速的运动加剧机器人内部各机构的磨损。此外，传统的涂覆材料搅拌机构由于管路过长，常常导致涂覆材料还未到达喷头就已沉淀，从而使管路堵塞。
 技术解决方案
本发明的目的是为了克服以上现有技术存在的不足，提供了一种3D微涂覆机器人、3D微涂覆机器人系统及3D微涂覆机器人的涂覆方法。
本发明的目的通过以下的技术方案实现：
一种3D微涂覆机器人，包括：工业机器人；所述工业机器人上设置有N个关节轴，N≥2；所述工业机器人内部设置有控制关节轴旋转的第一伺服电机，所述工业机器人的底部安装有底座，底座内设有控制工业机器人水平旋转运动的第二伺服电机；关节轴的末端设置有终端喷头设备、涂覆材料装载机构和用于获取待涂覆工件的三维数据的双目视觉相机，所述涂覆材料装载机构包括双料筒和安装在双料筒旁边的控制双料筒左右循环的光电传感器；终端喷头设备通过管路连接至双料筒。
优选地，所述底座上加设有防滑橡胶垫。
优选地，N=6。
优选地，所述终端喷头设备为雾化喷头。
优选地，终端喷头设备、涂覆材料装载机构和双目视觉相机均通过法兰块安装在关节轴的末端。
一种3D微涂覆机器人系统，包括：3D视觉定位模块、涂覆材料终端执行模块、涂覆控制模块和机器人控制模块；所述3D视觉定位模块，用于获取待涂覆工件的三维数据，根据所述三维数据得到待涂覆工件的三维坐标位置，并将工件的三维坐标位置发送到涂覆控制模块和机器人控制模块；所述机器人控制模块，用于根据所述三维坐标位置采用平滑曲线归一化插补控制方法执行空间规划，并控制工业机器人的运动；所述涂覆控制模块，用于根据所述三维坐标位置将待涂覆工件归类、选取涂覆路径、修正涂覆位置，并控制涂覆材料终端执行模块对待涂覆工件执行涂覆动作；所述涂覆材料终端执行模块，包括双料筒循环搅拌单元和终端喷头设备，所述双料筒循环搅拌单元用于在涂覆过程中的物料搅拌除泡，所述终端喷头设备用于对待涂覆工件执行涂覆动作。
优选地，所述3D视觉定位模块包括：双目视觉相机、图像处理单元和工件定位单元；所述双目视觉相机，用于对待涂覆工件进行扫描，得到待涂覆工件的三维数据，并将三维数据发送到图像处理单元和工件定位单元；所述图像处理单元，用于利用深度学习算法处理三维数据，得到涂覆轨迹；所述工件定位单元，用于对三维图像数据进行去噪处理，并使用基于深度的边缘分割算法提取待涂覆工件的深度图像轮廓，得到待涂覆工件的三维坐标位置。
上述3D微涂覆机器人的涂覆方法，包括：
S1，双目视觉相机对待涂覆工件进行快速激光扫描，获取三维数据；
S2，工业机器人根据所述三维坐标位置采用平滑曲线归一化插补控制方法进行空间规划，并根据空间规划控制工业机器人的运动；
S3，根据所述三维坐标位置将待涂覆工件归类、选取涂覆路径，并比较选取的涂覆路径与预设的涂覆位置，在线修正涂覆位置；
S4，工业机器人开启涂覆物料装载机构的双料筒，进行循环搅拌模式；
S5，控制工业机器人上的终端喷头设备移至涂覆区域执行涂覆动作。
优选地，步骤S2包括：
S21，根据所述高精度三维数据进行图像处理，计算出涂覆关键路径点的位置和姿态；
S22，根据所述涂覆关键路径点的位置和姿态，采用平滑插补曲线构造归一化时间算子进行插补，自动生成轨迹中间点的位置和姿态；
S23，根据生成的轨迹控制工业机器人的运动。
优选地，步骤S5包括： 工业机器人上的终端喷头设备进行平面涂覆或者曲面涂覆。
 有益效果
本发明相对于现有技术具有如下的优点：
本方案的工业机器人设置有N个关节轴，包含N个自由度，多个自由度可以提高机器人运动的灵活性；应用在工业机器人上的3D视觉定位模块可以精确获取待涂覆工件的位置并传送给涂覆控制模块和机器人控制模块；机器人控制模块采用平滑曲线构造归一化算子的插补方法执行空间规划与运动控制，可以有效控制工业机器人的速度和加速度平稳变化，从而减小急速的运动对机器人机构的冲击；涂覆控制模块智能选取涂覆路径，能有效提高工件涂覆效率；涂覆材料装载机构采用双料筒循环搅拌除泡，可避免管路过长而引起的堵塞。本发明可应用于自动化喷漆等各种物体表面处理过程，大幅度提升涂覆可靠性和智能化程度。
 附图说明
图1是本发明的3D微涂覆机器人的结构图。
图2是本发明的3D微涂覆机器人系统的结构框图。
图3是本发明的3D微涂覆机器人的涂覆方法的示意性流程图。
 本发明的实施方式
下面结合附图和实施例对本发明作进一步说明。
参见图1，一种3D微涂覆机器人，包括：工业机器人11；所述工业机器人11上设置有N个关节轴，N≥2；所述工业机器人11内部设置有控制关节轴旋转的第一伺服电机，所述工业机器人11的底部安装有底座16，底座16内设有控制工业机器人11水平旋转运动的第二伺服电机；关节轴的末端设置有终端喷头设备12、涂覆材料装载机构和用于获取待涂覆工件17的三维数据的双目视觉相机15，所述涂覆材料装载机构包括双料筒13和安装在双料筒13旁边的控制双料筒13左右循环的光电传感器14；终端喷头设备12通过管路连接至双料筒13。
在本实施例，所述底座16上加设有防滑橡胶垫，减小工业机器人11在移动过程中机械结构的磨损。在本实施例，N=6。六个第一伺服电机直接通过减速器、同步带轮等驱动六轴工业机器人11的六个关节轴的旋转，六个关节轴通过六个不同方向的旋转可以实现动作控制。
终端喷头设备12可根据涂覆工艺和材料选择合适的喷头，在本实施例，所述终端喷头设备12为雾化喷头。
在本实施例，光电传感器14安装在双料筒13旁边控制双料筒13左右循环，这样可对双料筒13内涂覆材料进行在线搅拌除泡。
在本实施例，终端喷头设备12、涂覆材料装载机构和双目视觉相机15均通过法兰块18安装在关节轴的末端。所述双目视觉相机15的底部设置有保护盖，保护盖通过气缸的推拉进行开合，可用来保护精密的双目视觉相机15的镜头。
参见图2、应用在上述3D微涂覆机器人内的3D微涂覆机器人系统，包括：3D视觉定位模块、涂覆材料终端执行模块、涂覆控制模块和机器人控制模块；所述3D视觉定位模块，用于获取待涂覆工件17的三维数据，根据所述三维数据得到待涂覆工件17的三维坐标位置，并将工件的三维坐标位置发送到涂覆控制模块和机器人控制模块；所述机器人控制模块，用于根据所述三维坐标位置采用平滑曲线归一化插补控制方法执行空间规划，并控制工业机器人11的运动；所述涂覆控制模块，用于根据所述三维坐标位置将待涂覆工件17归类、选取涂覆路径、修正涂覆位置，并控制涂覆材料终端执行模块对待涂覆工件17执行涂覆动作。所述涂覆材料终端执行模块，包括双料筒13循环搅拌单元和终端喷头设备12，所述双料筒13循环搅拌单元用于在涂覆过程中的物料搅拌除泡，所述终端喷头设备12用于对待涂覆工件17执行涂覆动作。
在本实施例，所述3D视觉定位模块包括：双目视觉相机15、图像处理单元和工件定位单元；所述双目视觉相机15，用于对待涂覆工件17进行扫描，得到待涂覆工件17的三维数据，并将三维数据发送到图像处理单元和工件定位单元；所述图像处理单元，用于利用深度学习算法处理三维数据，得到涂覆轨迹；所述工件定位单元，用于对三维图像数据进行去噪处理，并使用基于深度的边缘分割算法提取待涂覆工件17的深度图像轮廓，得到待涂覆工件17的三维坐标位置。
进一步的说明，所述3D视觉定位模块负责对工件位置的精确测量和定位，并将工件位置信息以网络通讯方式传送给涂覆控制模块和机器人控制模块；所述机器人控制模块负责执行空间规划与运动控制，是实现工业机器人11轨迹插补运动的关键模块，用于灵活控制工业机器人11的点位运动以及连续运动。所述涂覆控制模块负责根据双目视觉相机15所获取的工件三维图像数据提取工件形状特征，并智能选取涂覆路径、修正涂覆位置以及执行涂覆任务。所述双料筒13循环搅拌单元通过控制左右料筒存在的气压差实施物料搅拌工作。
参见图3、上述的3D微涂覆机器人的涂覆方法，包括：
S1，双目视觉相机15对待涂覆工件17进行快速激光扫描，获取三维数据；
S2，工业机器人11根据所述三维坐标位置采用平滑曲线归一化插补控制方法进行空间规划，并根据空间规划控制工业机器人11的运动；
S3，根据所述三维坐标位置将待涂覆工件17归类、选取涂覆路径，并比较选取的涂覆路径与预设的涂覆位置，在线修正涂覆位置；
S4，工业机器人11开启涂覆物料装载机构的双料筒13，进行循环搅拌模式；
S5，控制工业机器人11上的终端喷头设备12移至涂覆区域执行涂覆动作。在本实施例，步骤S5包括： 工业机器人11上的终端喷头设备12进行平面涂覆或者曲面涂覆。
在本实施例，步骤S2包括：
S21，根据所述高精度三维数据进行图像处理，计算出涂覆关键路径点的位置和姿态；
S22，根据所述涂覆关键路径点的位置和姿态，采用平滑插补曲线构造归一化时间算子进行插补，自动生成轨迹中间点的位置和姿态；
S23，根据生成的轨迹控制工业机器人11的运动。
上述归一化时间算子在插补运算中决定位置的变化趋势：若归一化时间算子为 l(t)，在时间 T内从 X 0 运动到 X 1 ，则位置函数 X(t)=X 0+l(t) × (X 1 － X 0) ,由其 n阶导数可知选择合适的平滑曲线构造归一化时间算子可满足速度平滑，加速度连续变化的要求。
其中平滑归一化时间算子的插补算法可以使用不同的平滑曲线，目标则是保证机器人末端执行器的速度光滑和加速度连续。例如，使用“S型”加减速曲线。所述“S型”加减速曲线的特征在于机器人末端执行器沿直线或圆弧切线方向的速度呈“S型”加减速曲线变化。对机器人的位置和姿态都进行插补使其连续平滑运动，最终可有效的减少机器人系统启动或停止时的冲击。
在本实施例，步骤S5之后还包括：判断待涂覆工件17的涂覆区域是否喷涂完毕。若完成，待涂覆工件17下料。否则转至步骤S5。
本方案的3D微涂覆机器人的涂覆方法不仅适用于生产量大、产品型号多、表面形状不规则的工件外表面的涂覆，并均匀搅拌涂覆材料，而且还可以智能选取涂覆路径，精确定位涂覆工件的位置并修正涂覆轨迹，从而保证涂覆效果的均匀一致性，尤其适用于高精度涂覆要求的工艺。
上述具体实施方式为本发明的优选实施例，并不能对本发明进行限定，其他的任何未背离本发明的技术方案而所做的改变或其它等效的置换方式，都包含在本发明的保护范围之内。

Claims (10)

  1. 一种3D微涂覆机器人，其特征在于，包括：工业机器人；所述工业机器人上设置有N个关节轴，N≥2；所述工业机器人内部设置有控制关节轴旋转的第一伺服电机，所述工业机器人的底部安装有底座，底座内设有控制工业机器人水平旋转运动的第二伺服电机；关节轴的末端设置有终端喷头设备、涂覆材料装载机构和用于获取待涂覆工件的三维数据的双目视觉相机，所述涂覆材料装载机构包括双料筒和安装在双料筒旁边的控制双料筒左右循环的光电传感器；终端喷头设备通过管路连接至双料筒。
  2. 根据权利要求1所述的3D微涂覆机器人，其特征在于，所述底座上加设有防滑橡胶垫。
  3. 根据权利要求1所述的3D微涂覆机器人，其特征在于，N=6。
  4. 根据权利要求1所述的3D微涂覆机器人，其特征在于，所述终端喷头设备为雾化喷头。
  5. 根据权利要求1所述的3D微涂覆机器人，其特征在于，终端喷头设备、涂覆材料装载机构和双目视觉相机均通过法兰块安装在关节轴的末端。
  6. 一种3D微涂覆机器人系统，其特征在于，包括：3D视觉定位模块、涂覆材料终端执行模块、涂覆控制模块和机器人控制模块；
    所述3D视觉定位模块，用于获取待涂覆工件的三维数据，根据所述三维数据得到待涂覆工件的三维坐标位置，并将工件的三维坐标位置发送到涂覆控制模块和机器人控制模块；
    所述机器人控制模块，用于根据所述三维坐标位置采用平滑曲线归一化插补控制方法执行空间规划，并控制工业机器人的运动；
    所述涂覆控制模块，用于根据所述三维坐标位置将待涂覆工件归类、选取涂覆路径、修正涂覆位置，并控制涂覆材料终端执行模块对待涂覆工件执行涂覆动作；
    所述涂覆材料终端执行模块，包括双料筒循环搅拌单元和终端喷头设备，所述双料筒循环搅拌单元用于在涂覆过程中的物料搅拌除泡，所述终端喷头设备用于对待涂覆工件执行涂覆动作。
  7. 根据权利要求6所述的3D微涂覆机器人系统，其特征在于，所述3D视觉定位模块包括：双目视觉相机、图像处理单元和工件定位单元；
    所述双目视觉相机，用于对待涂覆工件进行扫描，得到待涂覆工件的三维数据，并将三维数据发送到图像处理单元和工件定位单元；
    所述图像处理单元，用于利用深度学习算法处理三维数据，得到涂覆轨迹；
    所述工件定位单元，用于对三维图像数据进行去噪处理，并使用基于深度的边缘分割算法提取待涂覆工件的深度图像轮廓，得到待涂覆工件的三维坐标位置。
  8. 一种基于权利要求1-5任意一项的3D微涂覆机器人的涂覆方法，其特征在于，包括：
    S1，双目视觉相机对待涂覆工件进行快速激光扫描，获取三维数据；
    S2，工业机器人根据所述三维坐标位置采用平滑曲线归一化插补控制方法进行空间规划，并根据空间规划控制工业机器人的运动；
    S3，根据所述三维坐标位置将待涂覆工件归类、选取涂覆路径，并比较选取的涂覆路径与预设的涂覆位置，在线修正涂覆位置；
    S4，工业机器人开启涂覆物料装载机构的双料筒，进行循环搅拌模式；
    S5，控制工业机器人上的终端喷头设备移至涂覆区域执行涂覆动作。
  9. 根据权利要求8所述的3D微涂覆机器人的涂覆方法，其特征在于，步骤S2包括：
    S21，根据所述高精度三维数据进行图像处理，计算出涂覆关键路径点的位置和姿态；
    S22，根据所述涂覆关键路径点的位置和姿态，采用平滑插补曲线构造归一化时间算子进行插补，自动生成轨迹中间点的位置和姿态；
    S23，根据生成的轨迹控制工业机器人的运动。
  10. 根据权利要求8所述的3D微涂覆机器人的涂覆方法，其特征在于，步骤S5包括：工业机器人上的终端喷头设备进行平面涂覆或者曲面涂覆。
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