Projection teaching gun based on 3D scanning recognition

Abstract

The present invention discloses a projection teaching gun based on three-dimensional scanning recognition, including a teaching gun body and a teaching tool, wherein the teaching tool is installed at the front end of the teaching gun body, and the teaching process first projects changing structured light through a projector, and dual cameras collect images, and after calculation and processing, the overall three-dimensional model of the workpiece is obtained, and then the teaching tool that moves with the teaching gun is loaded in front of the teaching gun, and the actual processing process is imitated, and the teaching gun is held and moved for teaching. During the movement, the three-dimensional data of the two positioning rings and the partial image of the workpiece on the teaching tool are quickly processed and obtained, and the partial image of the workpiece is matched to the obtained overall three-dimensional model of the workpiece, and the spatial posture of the teaching tool at each moment is reversely calculated to form an accurate trajectory for controlling the industrial robot arm. This method does not require additional cameras and light sources, does not require command programming, and the tool is portable and easy to use.

Description

Technical Field

[0001] The invention belongs to the technical field related to teaching tools, and in particular relates to a projection teaching gun based on three-dimensional scanning recognition. Background Art

[0002] With the development of science and technology, robotic arms have been used by more and more companies, directly improving production efficiency and reducing the harm of various production pollution to employees. However, robotic arms often require professional personnel to program and teach, which increases the threshold and cost of industrial robotic arm applications. The market urgently needs a teaching pendant that ordinary workers can also implement simple teaching.

[0003] The mainstream robot arm teaching pendant on the market is a handheld teaching pendant with a screen and keyboard, which can be used to teach by inputting movement commands line by line on the keyboard. This programming method has high requirements for teaching personnel, the process is complicated and time-consuming, and it requires professionals who can perform programming to implement it.

[0004] Another common method is to install a six-dimensional sensor handle at the end of the robot arm. When a person pushes and pulls the six-dimensional sensor, the robot arm can move in the direction and force of the person's pull, and then calibrate point by point. This method reduces the technical requirements for the instructor. However, the teaching process is also the actual operation process of the robot arm motor. For safety reasons, the robot arm's follow-up action is slow, and the person and the robot arm stand together during the teaching, which is prone to accidents. In addition, the pulling of the end of the robot arm is different from the workers' actual work habits, so it is difficult to achieve the best state in terms of trajectory optimization and work rhythm processing.

[0005] Because of these problems, some novel robot arm teaching methods have gradually been proposed. Patent [CN105252538B] proposes a solution to control the movement of the robot arm by setting an inertial unit on the teach pendant body and sensing the posture of the teach pendant through the inertial unit. This solution is lightweight and easy to carry, but there are problems such as complex settings during teaching and the need to manually judge small movements through the display system. In addition, the data measured by the inertial measurement unit is integral data, which requires the sensor to have very high accuracy. In addition, the errors in the collected data will accumulate, resulting in excessive errors in the teaching data, which is difficult to meet the teaching requirements of industrial robot arms.

[0006] With the development of optical 3D positioning technology, more and more teaching methods based on 3D motion recognition have been proposed:

[0007] For example, the patent [CN107063130A] proposes to use grating projection technology to reconstruct the measured workpiece in three dimensions, and extract the three-dimensional contour information of the welded workpiece in combination with the two-dimensional contour and use it for the automatic control of the welding robot. This method is relatively convenient and has high accuracy, but the feature information relied on for motion measurement using this machine vision may be blocked or the feature points may be unclear, requiring manual processing. Such processing work can only be completed by instructors with very high computer operation skills. It is extremely difficult for ordinary low-educated operators. At present, computer automatic trajectory planning technology is also limited to some special application occasions. When there are special requirements, such as when it is used for grinding, it is necessary to constantly adjust the angle of the grinding disc like a skilled worker during the grinding process, and automatic planning is difficult to achieve.

[0008] Invention patent [CN108214495A] proposes an industrial robot teaching system and method, which uses two infrared laser transmitting base stations for scanning and positioning, and sets 28 infrared photosensitive sensors on the handheld locator to obtain the spatial data of the handheld locator. This method is flexible in teaching, but the data obtained by calculating the spatial position by receiving infrared light is not stable enough, the production and assembly of the teaching tool has a high impact on the accuracy, the infrared light is easily blocked during use, and the layout of the teaching environment and the system calibration require high skills, which are not something that ordinary employees can implement.

[0009] Invention patent [CN109848964A] proposes a teaching robot data acquisition system based on optical motion capture, which uses 8 specially designed motion capture cameras with flash units to collect reflected light on the working tool in real time to locate the spatial position of the working tool. Invention patent [CN110125944A] proposes to use 6 2.5-meter-high infrared cameras to build a circular teaching environment with a radius of 1-3 meters. The camera shoots the teaching device with 6 reflective spheres and transmits it to the computer workstation, which further processes it to obtain the spatial coordinates of the teaching device. Invention patent [CN110142770A] proposes that 6 motion capture cameras are equidistantly surrounded by a regular hexagon with a side length of 1.5m, and the teaching device position of the center of mass of the multi-marker rigid body is captured in real time to obtain the trajectory of the rigid body for teaching.

[0010] The above method has high positioning accuracy by arranging multiple cameras in the environment to capture the motion trajectory of the characteristic teaching tool. However, there are the following problems:

[0011] 1. In order to ensure that the teaching tools are not blocked, more cameras need to be arranged in the teaching space, or the cameras need to be moved. The more cameras there are, the higher the hardware resources required for graphics computing and processing. How to arrange the cameras, how to debug and calibrate them, all have very high technical requirements for the instructor. Arranging a teaching environment with multiple cameras is also very costly for the teaching itself.

[0012] 2. Based on the principle of multi-camera visual positioning, the farther the marked teaching tool is from the camera, the worse the positioning accuracy. In order to facilitate teaching, cameras can only be arranged around the teaching environment, which limits the teaching accuracy.

[0013] 3. Cameras are usually placed around the teaching environment. For areas that cannot be captured by the camera, such as areas with large dark corners of workpieces such as ship blades, or pipeline areas where teaching tools need to enter for teaching, the camera cannot shoot and normal teaching cannot be performed. Summary of the invention

[0014] The purpose of the present invention is to provide a projection teaching gun based on three-dimensional scanning recognition to solve the problems raised in the above-mentioned background technology that the robot arm teaching is difficult and ordinary employees cannot simply transfer their skilled techniques to the robot arm.

[0015] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a projection teaching gun based on three-dimensional scanning recognition, comprising a teaching gun body and a teaching tool, wherein the teaching tool is installed at the front end of the teaching gun body, and the teaching gun body comprises a micro projector, a high-speed camera 1, a high-speed camera 2, a touch screen, a main gun handle, a main trigger, fixing screws and an interface, and a charging port, wherein the high-speed camera 1 and the high-speed camera 2 are symmetrically fixed on both sides of the front end of the micro projector, the touch screen is installed at the rear end of the micro projector, the main trigger is installed at the front upper end of the main gun handle, and the USB interface is opened at the micro projector. on the left outer wall of the rear end, the charging port is opened on the left outer wall of the lower end of the main gun handle, the rear end of the teaching tool is fixedly connected to the micro projector by a fixing screw, the teaching tool comprises a main positioning ring, a secondary positioning ring, a secondary gun handle, a secondary trigger, a displacement sensor and a mounting rod and a detachable tool head, the displacement sensor is sleeved inside the secondary positioning ring, the secondary positioning ring and the main positioning ring are mounted on the mounting rod front and back, the rear end of the detachable tool head is plugged into the front end of the displacement sensor, the rear end of the mounting rod is fixedly connected to the secondary gun handle, and the secondary trigger is mounted on the front upper end of the secondary gun handle.

[0016] Preferably, the main gun handle is filled with a rechargeable battery used for system operation, and the charging port is a charging interface for the rechargeable battery of the teaching gun body.

[0017] Preferably, an angle sensor is installed at the connection between the main trigger and the main gun handle.

[0018] Preferably, the main positioning ring and the auxiliary positioning ring are both circular ring structures with 8 spokes, and the spokes are spaced 45 degrees apart from each other. The outer ring diameter of the auxiliary positioning ring is larger than the outer ring diameter of the main positioning ring, and the 8 spokes of the auxiliary positioning ring and the 8 spokes of the main positioning ring are staggered by 22.5 degrees.

[0019] Preferably, a travel switch is built into the connection between the secondary trigger and the secondary gun handle.

[0020] Preferably, the detachable tool head has multiple replaceable forms including a teaching tool head 1, a teaching tool head 2, a dispensing tool head and a welding tool head, and springs are installed inside the teaching tool head 1 and the teaching tool head 2.

[0021] Preferably, a computing unit for performing three-dimensional image processing is installed inside the touch screen.

[0022] Preferably, the high-speed camera 1 and the high-speed camera 2 collect image data of the workpiece during teaching and obtain three-dimensional data of the main positioning ring and the auxiliary positioning ring on the teaching tool and the partial image of the workpiece, match the partial three-dimensional image of the workpiece to the obtained overall three-dimensional model of the workpiece, obtain the spatial posture information of the main positioning ring and the auxiliary positioning ring, and reversely calculate the spatial posture of the teaching tool at each moment, including the absolute coordinates x, y, z of the end of the teaching tool in the robot arm base coordinate system C1 and the Euler angles α, β, γ of the posture of the teaching tool, and superimpose the obtained x, y, z and α, β, γ on the three-dimensional figure of the workpiece in the form of translucent arrows.

[0023] Compared with the existing robot arm teaching tool technology, the present invention provides a projection teaching gun based on three-dimensional scanning recognition, which has the following beneficial effects:

[0024] The teaching process of the present invention first projects changing structured light through a projector, and dual cameras collect images. After calculation and processing, an overall three-dimensional model of the workpiece is obtained. Then, a teaching tool that moves with the teaching gun is loaded in front of the teaching gun to imitate the actual processing process. The teaching gun is held and moved for teaching. During the movement, the three-dimensional data of the two positioning rings and the partial image of the workpiece on the teaching tool are quickly processed and obtained, the partial image of the workpiece is matched to the obtained overall three-dimensional model of the workpiece, and the spatial posture of the teaching tool at each moment is reversely calculated to form an accurate trajectory for controlling the industrial robot arm. This method does not require additional cameras and light sources, does not require command programming, and the tool is portable and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 This is a schematic diagram of the structure of a projection teaching gun based on three-dimensional scanning recognition proposed by the present invention;

[0027] Figure 2 This is a schematic diagram of the split structure of the teaching gun body and the teaching tool proposed by the present invention;

[0028] Figure 3 A detailed schematic diagram of the teaching gun body and the teaching tool proposed by the present invention;

[0029] Figure 4 A schematic diagram of the base coordinate system of the robotic arm proposed in the present invention;

[0030] Figure 5 This is a schematic diagram of the Mark points proposed by the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the second teaching tool head proposed by the present invention;

[0032] In the figure: A1, touch screen; A2, USB interface; A3, main gun handle; A4, charging port; A5, high-speed camera 1; A6, high-speed camera 2; A7, micro projector; A8, fixing screw; A9, main trigger; B1, main positioning ring; B2, auxiliary gun handle; B3, auxiliary trigger; B4, auxiliary positioning ring; B5, spring; B6, teaching tool head 1; B7, displacement sensor; B20, teaching tool head 2; A30, teaching gun body; B30, teaching tool; C1, robot arm base coordinate system; M30, Mark point. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figures 1 to 6The present invention provides a technical solution: a projection teaching gun based on three-dimensional scanning recognition, comprising a teaching gun body A30 and a teaching tool B30, wherein the teaching tool B30 is installed at the front end of the teaching gun body A30, and the teaching gun body A30 comprises a micro projector A7, a high-speed camera A5, a high-speed camera A6, a touch screen A1, a main gun handle A3, a main trigger A9, fixing screws A8, a USB interface A2 and a charging port A4, wherein the high-speed camera A5 and the high-speed camera A6 are symmetrically fixed on both sides of the front end of the micro projector A7, and the micro projector A7 mainly projects structured light, and completes three-dimensional scanning together with the high-speed camera A5 and the high-speed camera A6, after the teaching is completed, the path planning displayed on the touch screen A1 can be synchronously enlarged and projected onto a white wall for easy viewing, and the touch screen A1 is installed at the rear end of the micro projector A7, and the touch screen A1 can display the scanned three-dimensional image in real time; and can display touch buttons for the instructor to click and complete corresponding commands, and the main trigger A9 is installed at the front upper end of the main gun handle A3, and the main gun handle A3 The USB port A2 is convenient for the instructor to hold. It is located on the left outer wall of the rear end of the micro projector A7. The USB port A2 can be used to insert a U disk to transfer the teaching file to the robot host and write the configuration information during factory debugging. The charging port A4 is located on the left outer wall of the lower end of the main gun handle A3. The rear end of the teaching tool B30 is fixedly connected to the micro projector A7 by fixing screws A8. The teaching tool B30 includes a main positioning ring B1, a secondary positioning ring B4, a secondary gun handle B2, a secondary trigger B3, and a displacement sensor. The displacement sensor B7 is sleeved inside the auxiliary positioning ring B4, and the displacement sensor B7 is built inside the auxiliary positioning ring B4, which can sense the amount of squeezing of the detachable tool head. The auxiliary positioning ring B4 and the main positioning ring B1 are installed on the mounting rod front and back, and the rear end of the detachable tool head is plugged into the front end of the displacement sensor B7. The rear end of the mounting rod is fixedly connected to the auxiliary gun handle B2. The auxiliary gun handle B2 is used for the instructor to hold it conveniently, and the auxiliary trigger B3 is installed on the front upper end of the auxiliary gun handle B2.

[0035] Furthermore, the main gun handle A3 is loaded with a rechargeable battery for system operation, and the charging port A4 is a charging interface for the rechargeable battery of the teaching gun body A30, so that it can be charged and used when the power is low, so that the teaching gun can rely on its own battery to work independently, making it convenient for the instructor to move and carry.

[0036] Furthermore, an angle sensor is installed at the connection between the main trigger A9 and the main gun handle A3, which can sense the force of the instructor's trigger pull and convert the force into the execution intensity of controlling the robotic arm power tool, such as the rotation speed of the grinding tool and the spraying intensity of the spray tool.

[0037] It should be noted that both the main positioning ring B1 and the auxiliary positioning ring B4 are circular ring structures with 8 spokes, and the spokes are spaced 45 degrees apart from each other. The outer ring diameter of the auxiliary positioning ring B4 is larger than that of the main positioning ring B1. The 8 spokes of the auxiliary positioning ring B4 and the 8 spokes of the main positioning ring B1 are staggered by 22.5 degrees. That is, when any spoke of the main positioning ring B1 is projected in a direction perpendicular to the auxiliary positioning ring B4, it will be between the two spokes of the auxiliary positioning ring B4. The outer rings of the main positioning ring B1 and the auxiliary positioning ring B4 are larger and smaller, respectively, and the misalignment of the spokes can enhance the recognition accuracy of the main positioning ring B1 and the auxiliary positioning ring B4 during three-dimensional space recognition.

[0038] It is worth noting that there is a built-in travel switch at the connection between the auxiliary trigger B3 and the auxiliary gun handle B2, which can sense the instructor's action of pulling the trigger. Its function is equivalent to the "Start Teaching" and "Stop Teaching" buttons on the touch screen, which facilitates the instructor's operation.

[0039] It should be understood that the detachable tool head has two replacement forms: teaching tool head 1 B6 and teaching tool head 2 B20. Both teaching tool head 1 B6 and teaching tool head 2 B20 are equipped with springs B5. Teaching tool head 1 B6 is a teaching tool head that imitates the actual power tool of the robot arm during teaching. This tool head has a spring B5 and can be appropriately extended and retracted along the central axis. Through the displacement sensor B7, it can sense the size of the contact and compression between the tool head and the workpiece or other objects. The teaching gun body A30 has a built-in micro speaker that can emit a "beep" sound with a frequency proportional to the speed according to the amount of compression of the tool. During the teaching process, the teaching gun processor continuously collects the amount of compression and stores it as the variable "PressLevelN". The front end of this tool head can be replaced, such as replacing it with teaching tool head 2 B20. The detachable tool head is customized to keep the front end consistent with the front end of the power tool actually carried by the robot arm, such as the outer diameter of the grinding disc, to ensure that the teaching and the final robot arm implementation effect are consistent to the greatest extent.

[0040] It is worth emphasizing that the touch screen A1 is internally equipped with a computing unit for three-dimensional image processing, which is used to perform three-dimensional image calculations.

[0041] It should be understood that during the teaching process, high-speed camera 1 A5 and high-speed camera 2 A6 collect image data of the workpiece during teaching and obtain three-dimensional data of the main positioning ring B1 and the auxiliary positioning ring B4 on the teaching tool B30 and the partial image of the workpiece, match the partial three-dimensional image of the workpiece to the obtained overall three-dimensional model of the workpiece, obtain the spatial posture information of the main positioning ring B1 and the auxiliary positioning ring B4, and reversely calculate the spatial posture of the teaching tool B30 at each moment, including the absolute coordinates x, y, z of the end of the teaching tool B30 in the robot arm base coordinate system C1 and the Euler angles α, β, γ of the posture of the teaching tool B30, and the obtained x, y, z and α, β, γ are superimposed and displayed on the three-dimensional graphics of the workpiece in the form of translucent arrows.

[0042] The method for using the projection teaching gun based on three-dimensional scanning recognition includes the following steps:

[0043] S1: Figure 4 As shown, place the workpiece to be processed in front of the robot arm, and paste three Mark points M30 on the surface facing the robot arm. Try to select the three Mark points at the middle position above the workpiece, the lower left corner of the workpiece, and the lower right corner of the workpiece. Use the keyboard or joystick controller of the robot arm itself to move the end of the robot arm tool to the center of the first Mark point, and record the coordinates x, y, and z coordinates of the end of the robot arm tool. Manually input the coordinate values ​​into the projection teaching gun through the touch screen A1, then move the end of the robot arm tool to the center of the second Mark point, obtain the x, y, and z coordinates of the second point, input them into the projection teaching gun, and then move to the center of the third Mark point to obtain the coordinates x, y, and z, and input them into the projection teaching gun;

[0044] S2: The instructor moves the robotic arm to a position away from the workpiece through the keyboard or joystick controller of the robotic arm itself to facilitate subsequent three-dimensional scanning of the workpiece;

[0045] S3: Remove the teaching tool B30 at the front end of the projection teaching gun, click the "workpiece global scan" button on the projection teaching gun touch screen A1, and perform a global scan of the workpiece to be processed. During this process, the instructor holds the teaching gun and continuously updates the scanning results displayed based on the structured light projected by the projector and the touch screen A1, and continuously moves the teaching gun to perform a three-dimensional global scan of the workpiece to be processed. After the scan is completed, the teaching gun touch screen A1 displays the three-dimensional model of the workpiece obtained by the scan;

[0046] S4: After all the Mark points M30 on the touch screen A1 are processed and automatically identified by the teaching gun processor, they are highlighted. The instructor slides the touch screen A1, rotates the displayed three-dimensional model of the workpiece, finds the first highlighted Mark point, clicks the Mark point, and the touch screen A1 automatically displays the coordinates of the center of the three Mark points just entered. Click to select the corresponding coordinate value of the first point, then slides the touch screen A1 to find the second highlighted Mark point, click to select the corresponding coordinate value of the second point, then selects the third highlighted Mark point, and clicks to select the corresponding coordinate value of the third point;

[0047] S5: After the coordinate pairing of the three points is completed in the previous step, the teaching gun processor calibrates the acquired three-dimensional image and the coordinates of the robotic arm, that is, the teaching gun processor rotates and translates the three-dimensional model as a whole according to the three-point coordinates, so that the coordinates of the Mark point in the three-dimensional model are consistent with those of the robotic arm base coordinate system C1, completing the coordinate unification of the teaching coordinate system of the teaching gun and the robotic arm base coordinate system C1;

[0048] S6: The operator fixes the teaching tool B30 on the teaching gun by fixing screws A8, holds the teaching gun with both hands, clicks the "tool head calibration" button on the touch screen A1, and the teaching gun starts to project structured light. Then the teaching gun is aimed at a smooth wall or other smooth surface, and the teaching gun is slowly moved so that the teaching gun tool is close to the smooth plane at a vertical angle. After the front end of the teaching gun touches the plane, the displacement sensor B7 of the teaching gun feeds back a touch signal, and the teaching gun emits a "beep" sound. The teaching gun assumes that the tool is located on the central connecting axis of the main positioning ring B1 and the auxiliary positioning ring B4 by default. The spatial coordinates of the main positioning ring B1 and the auxiliary positioning ring B4 and the distance relative to the smooth plane are calculated through the calculated three-dimensional image, and the spatial coordinates of the tool end relative to the main positioning ring B1 and the auxiliary positioning ring B4 are calculated. At this time, the coordinates of the tool end of the teaching gun during teaching are equivalent to the coordinates of the end of the robot arm electric tool;

[0049] S7: The instructor holds the teaching gun with both hands and pulls the secondary trigger B3 to start teaching. The instructor imitates the processing action, constantly moves the teaching gun and pulls the main trigger A9 to imitate the action strength of the robot arm power tool. During the movement, the micro projector A7 continuously projects the changing structured light. At every small time interval, such as 10ms or a shorter period, the angle of the main trigger A9 is sampled in real time and stored as the variable "ToolLevelN", the amount of the teaching tool squeezed is stored as the variable "PressLevelN", and the image data of the dual cameras are quickly processed to obtain the teaching The three-dimensional data of the partial images of the main positioning ring B1 and the auxiliary positioning ring B4 on the tool B30 and the workpiece are matched to the obtained overall three-dimensional model of the workpiece, and the spatial posture information of the main positioning ring B1 and the auxiliary positioning ring B4 is obtained, and the spatial posture of the teaching tool at each moment is reversely calculated, including the absolute coordinates x, y, z of the end of the teaching tool B30 in the robot arm base coordinate system C1 and the posture Euler angles α, β, γ of the teaching tool B30, and the obtained x, y, z and α, β, γ are superimposed and displayed on the three-dimensional figure of the workpiece in the form of semi-transparent arrows;

[0050] S8: When the operator moves to the end of the expected teaching trajectory and releases the projection gun secondary trigger B3, the teaching controller emits three short and one long "beep beep beep" sounds, and the teaching ends. The processor of the teaching gun sequentially generates robot arm corresponding movement control commands such as move (x, y, z, α, β, γ), Tool (ToolLevelN), Press (PressLevelN) for the teaching tool B30 coordinates, the main trigger A9 pull force, and the teaching tool B30 squeezed amount continuously obtained during the teaching process, and summarizes them into a teaching file executable by the robot arm;

[0051] S9: After the mobile teaching is finished, the operator checks and confirms the generated trajectory through the touch screen A1 or the projection function. After checking that it is correct, the operator copies the generated offline teaching file to the robot arm controller through the U disk for operation.

[0052] Optionally, during the actual operation of the robot arm, if the power tool of the robot arm and the workpiece come into contact, and there are slight differences between the workpieces to be processed, or the workpiece fixing accuracy is not high during the production process, a floating control mechanism with electric retraction and extrusion force sensing can be installed between the end flange of the robot arm and the power tool. The value of "PressLevelN" in each line in the teaching file can be used to control the retraction and expansion of the floating control mechanism so that the feedback extrusion force is equivalent to the value of "PressLevelN" to reduce the processing error.

[0053] Optionally, during teaching, if the workpiece to be processed is large, an erasable marker pen can be used to draw crosses on the workpiece at regular intervals to enhance the optical three-dimensional recognizability of the workpiece.

[0054] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A projection teaching gun based on three-dimensional scanning recognition, comprising a teaching gun body (A30) and a teaching tool (B30), characterized in that: The teaching tool (B30) is installed at the front end of the teaching gun body (A30). The teaching gun body (A30) includes a micro projector (A7), a high-speed camera 1 (A5), a high-speed camera 2 (A6), a touch screen (A1), a main gun handle (A3), a main trigger (A9), a fixing screw (A8), a USB interface (A2) and a charging port (A4). The high-speed camera 1 (A5) and the high-speed camera 2 (A6) are symmetrically fixed on both sides of the front end of the micro projector (A7). The touch screen (A1) is installed at the rear end of the micro projector (A7). The main trigger (A9) is installed at the front upper end of the main gun handle (A3). The USB interface (A2) is opened on the left outer wall of the rear end of the micro projector (A7). The charging port (A4) is opened on the left outer wall of the lower end of the main gun handle (A3). The teaching tool (B3 0) is fixedly connected to the micro projector (A7) by a fixing screw (A8); the teaching tool (B30) comprises a main positioning ring (B1), a secondary positioning ring (B4), a secondary gun handle (B2), a secondary trigger (B3), a displacement sensor (B7), a mounting rod and a detachable tool head; the displacement sensor (B7) is sleeved inside the secondary positioning ring (B4); the secondary positioning ring (B4) and the main positioning ring (B1) are mounted on the mounting rod front and back; the rear end of the detachable tool head is plugged into the front end of the displacement sensor (B7); the rear end of the mounting rod is fixedly connected to the secondary gun handle (B2); the secondary trigger (B3) is mounted on the front upper end of the secondary gun handle (B2); an angle sensor is installed at the connection between the main trigger (A9) and the main gun handle (A3); and a travel switch is built-in at the connection between the secondary trigger (B3) and the secondary gun handle (B2).

2. The projection teaching gun based on three-dimensional scanning recognition according to claim 1 is characterized in that: The main gun handle (A3) is filled with a rechargeable battery used for system operation, and the charging port (A4) is a charging interface for the rechargeable battery of the teaching gun body (A30).

3. The projection teaching gun based on three-dimensional scanning recognition according to claim 1 is characterized in that: The main positioning ring (B1) and the auxiliary positioning ring (B4) are both circular ring structures with 8 spokes, and the spokes are spaced 45 degrees apart from each other. The outer ring diameter of the auxiliary positioning ring (B4) is larger than the outer ring diameter of the main positioning ring (B1), and the 8 spokes of the auxiliary positioning ring (B4) and the 8 spokes of the main positioning ring (B1) are staggered by 22.5 degrees.

4. The projection teaching gun based on three-dimensional scanning recognition according to claim 1 is characterized in that: The detachable tool head has multiple replaceable forms, including a teaching tool head 1 (B6), a teaching tool head 2 (B20), a dispensing tool head, and a welding tool head. The teaching tool head 1 (B6) and the teaching tool head 2 (B20) are both equipped with springs (B5).

5. The projection teaching gun based on three-dimensional scanning recognition according to claim 1 is characterized in that: The touch screen (A1) is internally provided with a computing unit for performing three-dimensional image processing.

6. The projection teaching gun based on three-dimensional scanning recognition according to claim 1 is characterized in that: The high-speed camera 1 (A5) and the high-speed camera 2 (A6) collect image data of the workpiece during teaching and obtain three-dimensional data of the main positioning ring (B1) and the auxiliary positioning ring (B4) on the teaching tool (B30) and the partial image of the workpiece, match the partial three-dimensional image of the workpiece to the obtained overall three-dimensional model of the workpiece, obtain the spatial posture information of the main positioning ring (B1) and the auxiliary positioning ring (B4), and reversely calculate the spatial posture of the teaching tool (B30) at each moment, including the absolute coordinates x, y, z of the end of the teaching tool (B30) in the robot arm base coordinate system C1 and the posture Euler angles α, β, γ of the teaching tool (B30), and the obtained x, y, z and α, β, γ are superimposed and displayed on the three-dimensional figure of the workpiece in the form of semi-transparent arrows.

Images