Timing gear mark automatic marking device and method based on visual positioning

Abstract

The invention provides a timing gear mark automatic marking device and method based on visual localization, and relates to the technical field of gear machining, the timing gear mark automatic marking device comprises a circulation table, a circulation tool, a limiting mechanism, a lifting mechanism, a camera assembly and a laser marking machine, a gear circulation line and a marking station are arranged on the circulation table, and the marking station is located on the gear circulation line; the circulation tool is arranged on the circulation table and can move on the gear circulation line, and a bearing end is arranged on the circulation tool. According to the timing gear mark automatic marking device and method based on visual positioning, a timing gear is conveyed in an automatic circulation line mode, after the timing gear reaches a marking station, the timing gear is stopped and lifted, marking operation is conducted according to shot images, gear pose information is obtained, marking operation is conducted according to the position and the angle of the gear, automatic marking is achieved, and the marking efficiency is improved. And meanwhile, a positioning pin is not needed for positioning the gear, and the problem that the timing mark deviates due to the fact that the positioning pin is abraded is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of gear processing, and in particular to an automatic marking device and method for timing gears based on visual positioning. Background Art

[0002] The timing gear is an important part in the engine timing system. This type of gear generally has a keyway in the inner hole of the gear. The keyway has a strict angle relationship with the center line of a specific tooth groove to ensure the accuracy of the engine valve timing. A character needs to be marked at the bottom of the specific tooth groove for identification at the assembly site. This character is the timing mark. The wrong timing mark will cause the engine timing relationship to be wrong, resulting in abnormal engine operation.

[0003] The existing method of marking the timing mark is to use the positioning mandrel to locate the center of the gear, the positioning pin to locate the gear keyway to limit the rotation of the gear, and the marking machine software to adjust the timing mark at the workbench position to achieve accurate marking. This method is simple to implement and has low cost, but there are some problems, such as: the parts need to be accurately placed in the fixture, the marking efficiency is low, and automation cannot be achieved; the pin wears quickly, often causing the timing mark to shift, which affects the marking accuracy. Summary of the invention

[0004] In view of this, the present invention proposes an automatic marking device and method for timing gear marks based on visual positioning, which uses an automatic flow line to transport the timing gear. After it arrives at the marking station, it is blocked and lifted, and the gear posture information is obtained based on the captured image. The marking operation is performed according to its position and angle to achieve automated marking with higher marking efficiency. At the same time, there is no need for locating pins to position the gears, which avoids the problem of timing mark offset caused by wear of the locating pins.

[0005] The technical solution of the present invention is achieved in this way:

[0006] On the one hand, the present invention provides a timing gear automatic marking device based on visual positioning, including a flow table, a flow tooling, a limit mechanism, a lifting mechanism, a camera assembly and a laser marking machine, wherein:

[0007] A gear circulation line and a marking station are arranged on the circulation table, and the marking station is located on the gear circulation line;

[0008] The circulation tooling is arranged on the circulation table and can move on the gear circulation line. The circulation tooling is provided with a bearing end, and the bearing end is used to place the timing gear and drive the timing gear and the circulation tooling to move synchronously;

[0009] The limiting mechanism is arranged on the transfer table and is located outside the marking station. The limiting mechanism includes a blocking portion, which can move toward the marking station to block the transfer tooling at the marking station.

[0010] The lifting mechanism is arranged on the marking station of the rotary table, and the lifting mechanism is used to lift the timing gear located at the marking station to make it leave the rotary tooling;

[0011] The camera assembly is arranged above the marking station and is used to collect images containing timing gear position information;

[0012] The laser marking machine is arranged above the marking station to mark the timing gear according to the position information of the timing gear.

[0013] On the basis of the above technical solution, preferably, the flow tooling further includes a base and a positioning plate, wherein:

[0014] The base is movably arranged on the gear circulation line of the circulation table, and a mounting groove is arranged on the base;

[0015] One end of the positioning plate is inserted into the mounting groove, and the other end is fixed to the bearing end.

[0016] On the basis of the above technical solution, preferably, the bearing end is arranged in a stepped shape, and the diameter gradually decreases in the direction away from the base.

[0017] On the basis of the above technical solution, preferably, the limiting mechanism further includes a positioning cylinder, a guide rail and a connecting plate, wherein:

[0018] The positioning cylinder is fixed on the rotating table, and the moving direction of the telescopic end is perpendicular to the gear rotating line;

[0019] The guide rail is fixed on the turntable, and the length direction of the guide rail is parallel to the moving direction of the telescopic end of the positioning cylinder;

[0020] The connecting plate is fixed on the telescopic end of the positioning cylinder and is slidably arranged on the guide rail. The blocking part is arranged on the connecting plate to cooperate with the connecting plate to block the flow tooling.

[0021] On the basis of the above technical solution, preferably, the lifting mechanism includes a lifting cylinder, a supporting plate and a cushion block, wherein:

[0022] The lifting cylinder is vertically arranged on the turntable;

[0023] The support plate is fixed on the telescopic end of the lifting cylinder. When the circulation tooling is located at the marking station, the support plate is located outside the circulation tooling and at the bottom of the timing gear.

[0024] The spacer block is fixed on the support plate to support the bottom of the timing gear when the support plate moves.

[0025] On the basis of the above technical solution, preferably, it also includes a multi-axis motion module, which is arranged on a turntable, and the multi-axis motion module includes a movable seat, the laser marking machine and the camera assembly are both arranged on the movable seat, and the camera assembly can move relative to the laser marking machine.

[0026] On the other hand, the present invention provides a timing gear mark automatic marking method based on visual positioning, which is implemented based on the above-mentioned timing gear mark automatic marking device. The timing gear mark automatic marking method based on visual positioning includes the following steps:

[0027] After the S1 timing gear moves to the marking station, the lifting mechanism lifts the timing gear;

[0028] S2 collects the gear image by the camera component and performs preprocessing to obtain a preprocessed image;

[0029] S3 performs image segmentation on the preprocessed image to obtain an image of the region of interest;

[0030] S4 sets a timing mark template, and sets a coordinate system in the image of the region of interest according to the position of the gear keyway in the image of the region of interest;

[0031] S5 transforms the coordinates of the timing mark template and the image of the region of interest accordingly to form a marking image;

[0032] S6 The laser marking machine marks the timing gear according to the position information of the timing mark in the marking image.

[0033] On the basis of the above technical solution, preferably, the preprocessing in step S2 includes graying and median filtering the collected gear image.

[0034] On the basis of the above technical solution, preferably, in step S4, setting the timing mark template includes the following steps:

[0035] S41 acquires a marked image of a gear with a timing mark;

[0036] S42 sets a template layer on the gear marked image, and establishes a template coordinate system on the template layer with the center of the gear as the origin and the midline of the gear keyway as the Y axis;

[0037] S43 sets a marking area on the template layer, and sets timing characters in the marking area to form a timing mark template.

[0038] On the basis of the above technical solution, preferably, the step S3 includes segmenting the pre-processed image by global thresholding, and extracting the region of interest image by morphological processing on the region at the segmentation.

[0039] The timing gear marking automatic marking device and method based on visual positioning of the present invention has the following beneficial effects compared with the prior art:

[0040] (1) The timing gear is transported by an automatic flow line. After it arrives at the marking station, it is stopped and lifted. The gear position information is obtained based on the captured image. The marking operation is performed according to its position and angle, thereby realizing automated marking and having higher marking efficiency. At the same time, there is no need for positioning pins to position the gear, thus avoiding the problem of timing mark offset caused by positioning pin wear;

[0041] (2) By setting the timing mark template and preprocessing the gear image, the gear position information is obtained, and the gear image is fused with the timing mark template to form a marking image, so as to accurately identify the position of the timing mark in the image. Then, according to the marking image, a laser marking machine is used to mark the timing mark, thereby realizing fast and accurate automated marking. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 It is a schematic diagram of the timing gear structure;

[0044] Figure 2 It is a side view of a timing marking fixture in the prior art;

[0045] Figure 3 It is a cross-sectional view of a timing marking fixture in the prior art;

[0046] Figure 4 A three-dimensional diagram of the automatic marking device for timing gears based on visual positioning of the present invention;

[0047] Figure 5 It is a structural schematic diagram of the timing gear marking automatic marking device based on visual positioning of the present invention;

[0048] Figure 6 for Figure 5 Schematic diagram of the local structure in;

[0049] Figure 7 A three-dimensional diagram of the flow tooling of the timing gear marking automatic marking equipment based on visual positioning of the present invention;

[0050] Figure 8 It is a stereoscopic diagram of the limiting mechanism of the timing gear marking automatic marking equipment based on visual positioning of the present invention;

[0051] Fig. 9 It is a stereoscopic diagram of the lifting mechanism of the timing gear marking automatic marking equipment based on visual positioning of the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with 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.

[0053] like Figure 1 As shown, a keyway and a timing mark are provided on the timing gear, wherein a is the timing gear, b is the keyway, and c is the timing mark.

[0054] like Figure 2-3 As shown, the traditional method of implementing timing mark marking is to locate the center of the gear by the positioning mandrel, locate the gear keyway by the positioning pin to limit the rotation of the gear, and adjust the timing mark at the workbench position in the marking machine software to achieve accurate marking. In the figure, a is the timing gear, b is the keyway, d is the positioning mandrel, and e is the positioning pin.

[0055] like Figure 1-9 As shown, the automatic marking device for timing gear marking based on visual positioning of the present invention includes a turntable 1, a turntable 2, a limit mechanism 3, a lifting mechanism 4, a camera assembly 5 and a laser marking machine 6.

[0056] A gear circulation line and a marking station are set on the turntable 1. The marking station is located on the gear circulation line. The gear circulation line can circulate workpieces through flexible transmission parts such as conveyor belts and chains. In this embodiment, the circulation of timing gears is realized by setting a conveyor belt. On the turntable 1, in addition to setting a marking station, loading and unloading stations and other processing stations can also be set on the gear circulation line to realize automated processing operations of the entire line.

[0057] The circulation tooling 2 is arranged on the circulation table 1 and can move on the gear circulation line. The circulation tooling 2 is provided with a load-bearing end 21, and the load-bearing end 21 is used to place the timing gear and drive the timing gear and the circulation tooling 2 to move synchronously. In this embodiment, the circulation tooling 2 is directly arranged on the conveyor belt, and the friction force of contact with the conveyor belt is used to realize the movement of the circulation tooling 2 along the gear circulation line on the circulation table 1. When it reaches a certain workstation, it can directly block the circulation tooling 2, and process the gear carried on the corresponding circulation tooling 2 without stopping the conveyor belt. This method can reduce the mutual influence between each workstation due to different processing conditions, and avoid continuous shutdown of subsequent workstations after a certain workstation is blocked.

[0058] The limiting mechanism 3 is arranged on the flow table 1 and is located on the outside of the marking station. The limiting mechanism 3 includes a blocking portion 31. The blocking portion 31 can move toward the marking station to block the flow tooling 2 at the marking station. In the present embodiment, since a conveyor belt is used for online workpiece transportation operations, four limiting mechanisms 3 need to be arranged, with two as a group, and are divided into two groups. One group blocks the flow tooling 2 entering the marking station, and the other group is used to block the subsequent flow tooling 2 from entering the marking station. Both groups of limiting mechanisms 3 perform blocking operations on the flow tooling 2 through the blocking portion 31.

[0059] The lifting mechanism 4 is arranged on the marking station of the flow table 1. The lifting mechanism 4 is used to lift the timing gear located at the marking station so that it leaves the flow tooling 2. In this embodiment, the number of the lifting mechanisms 4 is set to two, and they are respectively arranged on both sides of the gear flow line. When the gear enters the marking station, the lifting mechanism 4 can lift the gear.

[0060] It should be noted that a plurality of laser probes are also installed on the transfer table 1 for position detection of the transfer tooling 2. Specifically in the present embodiment, a total of four laser probes, namely laser proximity switches, are provided. The four laser probes are arranged along the tooling transmission direction and are used for: 1. Detection of the flow tooling flowing into the marking system; 2. Workpiece detection, for detecting whether there is a workpiece on the transfer tooling, and if there is no workpiece, it will be directly transferred backwards; 3. Detection of the transfer tooling in place, and after the transfer tooling with the workpiece is in place, the lifting mechanism will lift the part; 4. Detection of the flow outflow of the transfer tooling.

[0061] In this embodiment, an equipment box is also provided. The equipment box is located above the turntable 1, but is independently installed on the ground to prevent the vibration of the turntable 1 during operation from being transmitted to the equipment box. An operation panel and a main unit are provided on the equipment box. Correspondingly, a lifting mechanism 4 can also be provided in the equipment box to prevent the vibration of the turntable 1 from affecting the gears.

[0062] The camera assembly 5 is arranged in the equipment box and located above the marking station. It is used to collect images containing the position information of the timing gear. When the lifting mechanism 4 lifts the gear to be marked, the camera assembly 5 shoots the gear to obtain the gear image. After obtaining the gear image, the camera assembly 5 can transmit it to the host computer, and perform image recognition and processing through the computer image processing program to obtain the position information of the timing gear, that is, the position of the timing gear and the orientation of its gear keyway.

[0063] The camera assembly 5 includes a mounting platform, and a fill light system and an industrial camera arranged on the mounting platform. The fill light system performs fill light shooting when the industrial camera acquires the gear image.

[0064] The laser marking machine 6 is arranged above the marking station. After the host obtains the posture information of the timing gear, the image processing program transmits the posture information to the general marking software. The marking software adjusts the coordinates of the timing mark in the marking template according to the posture information, and then the laser marking machine 6 performs marking operation on the timing gear.

[0065] In addition, metal mist is inevitably generated during the marking process, so it is also necessary to set up a negative pressure suction device and connect its pipeline to the equipment box to extract and process the dust generated during the marking process to prevent the dust from affecting the laser marking optical path and the normal shooting operation of the camera assembly 5.

[0066] As a preferred embodiment, the flow tooling 2 also includes a base 22 and a positioning plate 23. The base 22 is movably arranged on the gear flow path of the flow table 1, and a mounting groove is arranged on the base 22. One end of the positioning plate 23 is inserted into the mounting groove, and the other end is fixed to the load-bearing end 21. The base 22 is placed on the conveyor belt, and the friction force of contact with the conveyor belt drives the base 22 to move.

[0067] Specifically, the base 22 includes a horizontal plate, two discs and a mounting seat. The two discs are arranged at the bottom of the horizontal plate, the mounting seat is arranged at the top of the horizontal plate, and the mounting groove is opened on the mounting seat. The two discs are in contact with the conveyor belt and are located on the gear circulation line. This arrangement allows the base 22 to move normally in the curved section of the gear circulation line. The positioning plate 23 is connected to the base 22 by inserting it into the mounting groove. The end of the positioning plate 23 is the load-bearing end 21. By replacing the positioning plate 23, gears of different specifications can be adapted for circulation.

[0068] As a preferred embodiment, the bearing end 21 is arranged in a stepped shape, and its diameter gradually decreases in the direction away from the base 22. This arrangement can adapt to the external shape of the gear. At the same time, the positioning plate 23 can also be adapted to at least two gears at the same time. This arrangement can effectively reduce the tooling processing cost. At the same time, in some scenarios, the process of replacing the positioning plate 23 can be reduced. It should be noted that after replacing the positioning plate 23, the components of the lifting mechanism 4 must also be adjusted synchronously to adapt to the gear to be lifted and the corresponding positioning plate.

[0069] In this embodiment, the limiting mechanism 3 also includes a positioning cylinder 32, a guide rail 33 and a connecting plate 34. The positioning cylinder 32 is fixed on the turntable 1, and the movable direction of the telescopic end is perpendicular to the gear flow circuit. The guide rail 33 is fixed on the turntable 1, and the length direction of the guide rail 33 is parallel to the movable direction of the telescopic end of the positioning cylinder 32. The connecting plate 34 is fixed on the telescopic end of the positioning cylinder 32 and is slidably arranged on the guide rail 33. The blocking portion 31 is arranged on the connecting plate 34 to cooperate with the connecting plate 34 to block the flow tooling 2.

[0070] The blocking portion 31 is inserted into the marking station and contacts the base 22 to prevent the flow tooling 2 from continuing to move.

[0071] In this embodiment, the lifting mechanism 4 includes a lifting cylinder 41, a support plate 42 and a cushion block 43. The lifting cylinder 41 is vertically arranged on the turntable 1, and the support plate 42 is fixed on the telescopic end of the lifting cylinder 41. When the turntable 2 is located at the marking station, the support plate 42 is located on the outside of the turntable 2 and at the bottom of the timing gear. The cushion block 43 is fixed on the support plate 42 to support the bottom of the timing gear when it moves with the support plate 42.

[0072] After replacing the positioning plate 23, it is necessary to adjust the installation positions of the support plate 42 and the cushion block 43, or directly replace them to adapt to the new working scene.

[0073] In this embodiment, a multi-axis motion module 7 is also included, and the multi-axis motion module 7 is arranged on the turntable 1. The multi-axis motion module 7 includes a movable seat 71. The laser marking machine 6 and the camera assembly 5 are both arranged on the movable seat 71, and the camera assembly 5 can move relative to the laser marking machine 6.

[0074] Specifically, the direction in which the conveyor belt moves on the marking station is the X-axis, the vertical direction is the Z-axis, and the direction perpendicular to the X-axis and the Z-axis is the Y-axis. The multi-axis motion module 7 includes X-, Y-, and Z-axis motion modules. The movable seat 71 is installed on the movable part of the three-axis motion module, and the laser marking machine 6 is directly fixed to the movable seat 71 to realize the all-round movement of the laser marking machine 6. In addition, the camera assembly 5 also has a separate X- and Z-axis linear module, which is installed on the movable seat 71 through the two-axis module, so that the camera assembly 5 can be moved independently relative to the laser marking machine 6, thereby more flexibly acquiring the gear image.

[0075] The automatic marking method for timing gear marks based on visual positioning of the present invention is implemented on the basis of the above-mentioned automatic marking equipment for timing gear marks. Specifically, the host processes the gear image and merges it with a preset marking template to determine the timing mark position. The laser marking machine 6 then performs marking operations according to the position information of the timing mark, which can be summarized as steps S1-S6.

[0076] Step S1: After the timing gear moves to the marking station, the lifting mechanism 4 lifts the timing gear.

[0077] In this step, the timing gear leaves the circulation fixture 2 through the lifting mechanism 4, thereby preventing the vibration on the circulation fixture 2 from being transmitted to the gear, thereby improving the image acquisition accuracy.

[0078] Step S2: The camera assembly 5 collects the gear image and performs preprocessing to obtain a preprocessed image.

[0079] Preprocessing includes grayscale and median filtering the collected gear image. Specifically, in this embodiment, the gear image is first grayscaled, and then the surface area of ​​the image is denoised using median filtering. The grayscale processing is preferably a linear grayscale transformation processing. The linear grayscale transformation transforms the grayscale value of the image through a linear function, so that the contrast of the image is increased and the details are clearer.

[0080] Step S3: Perform image segmentation on the preprocessed image to obtain an image of the region of interest.

[0081] In this step, it is preferred to segment the preprocessed image using global thresholding processing, and extract the image of the region of interest by morphological processing of the segmented area, wherein the morphological processing is preferably morphological dilation processing, which refers to the process of merging the surrounding associated pixel areas of the target area together. The dilation processing can merge the cracked area targets, smooth the protrusions on the edge of the image, or fill the internal holes.

[0082] Step S4: Setting a timing mark template, and setting a coordinate system in the region of interest image according to the gear keyway position in the region of interest image.

[0083] The timing mark template needs to be set in advance in this step and directly retrieved from the host during the marking process. How to set a new marking template includes steps S41-S43.

[0084] Step S41: Acquire a marked image of a gear with a timing mark.

[0085] Here, we can directly collect the gears that have been marked in the previous processing process. The specific marking method can adopt the traditional marking method. The marking image obtained in this step also needs to be pre-processed and the center of the gear circle is determined. At the same time, the coordinate system is set in the marked image.

[0086] Step S42: setting a template layer on the gear marked image, and establishing a template coordinate system on the template layer with the gear center as the origin and the gear keyway midline as the Y axis.

[0087] It should be noted that the Y axis mentioned in this step is the Y axis in the image, which is different from the XYZ axis coordinate system mentioned above. In this method, the image coordinate system is mainly used, and the XYZ axis in the above-mentioned device is not involved.

[0088] The center line of the gear keyway refers to the straight line formed by the midpoint of the gear keyway and the center of the gear.

[0089] Step S43: Setting a marking area on the template layer, and setting timing characters in the marking area to form a timing mark template.

[0090] Establish the center of the timing mark coordinate character, and construct a line segment connecting the two points with the center of the gear circle, calculate the angle between the center line of the gear keyway and the line segment, determine the coordinate position of the timing mark, and rotate the timing character according to its position to form a marking template.

[0091] Step S5: transform the coordinates of the timing mark template and the image of the region of interest accordingly to form a marking image.

[0092] In this step, the origin of the timing mark template is aligned with the origin of the image of the area of ​​interest, and a rotation adjustment is performed so that the coordinate system of the timing mark template and the image of the area of ​​interest are the same, and a marking image can be obtained. The position of the timing mark in the marking image is the position where the timing mark needs to be marked in the control program of the laser marking machine 6.

[0093] Step S6: The laser marking machine 6 performs marking operation on the timing gear according to the position information of the timing mark in the marking image.

[0094] In addition, after the marking is completed, the lifting mechanism 4 needs to install the timing gear anti-backflow tooling, and at the same time the limiting mechanism 3 releases the marked gear and allows the next gear to be marked to enter the marking station, thereby realizing a cyclic automated marking operation.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A timing gear automatic marking device based on visual positioning, characterized in that: It comprises a transfer table (1), a transfer tool (2), a limit mechanism (3), a lifting mechanism (4), a camera assembly (5) and a laser marking machine (6), wherein: A gear circulation line and a marking station are arranged on the circulation table (1), and the marking station is located on the gear circulation line; The circulation tooling (2) is arranged on the circulation platform (1) and can move on the gear circulation line. The circulation tooling (2) is provided with a bearing end (21), and the bearing end (21) is used to place the timing gear and drive the timing gear and the circulation tooling (2) to move synchronously. The limiting mechanism (3) is arranged on the transfer table (1) and is located outside the marking station. The limiting mechanism (3) comprises a blocking portion (31). The blocking portion (31) can move toward the marking station to block the transfer tooling (2) at the marking station. The lifting mechanism (4) is arranged on the marking station of the transfer table (1), and the lifting mechanism (4) is used to lift the timing gear located at the marking station so that it leaves the transfer tooling (2); The camera assembly (5) is arranged above the marking station and is used to collect images containing timing gear position information; The laser marking machine (6) is arranged above the marking station to perform marking operations on the timing gear according to the position information of the timing gear.

2. The timing gear marking automatic marking device based on visual positioning according to claim 1 is characterized in that: The transfer tool (2) further comprises a base (22) and a positioning plate (23), wherein: The base (22) is movably arranged on the gear circulation line of the circulation platform (1), and a mounting groove is arranged on the base (22); One end of the positioning plate (23) is inserted into the mounting groove, and the other end is fixed to the bearing end (21).

3. The timing gear marking automatic marking device based on visual positioning according to claim 1 is characterized in that: The bearing end (21) is arranged in a stepped shape, and its diameter gradually decreases in a direction away from the base (22).

4. The timing gear marking automatic marking device based on visual positioning according to claim 1 is characterized in that: The limiting mechanism (3) further comprises a positioning cylinder (32), a guide rail (33) and a connecting plate (34), wherein: The positioning cylinder (32) is fixed on the turntable (1), and the movable direction of the telescopic end is perpendicular to the gear turnaround line; The guide rail (33) is fixed on the turntable (1), and the length direction of the guide rail (33) is parallel to the moving direction of the telescopic end of the positioning cylinder (32); The connecting plate (34) is fixed on the telescopic end of the positioning cylinder (32) and is slidably arranged on the guide rail (33). The blocking portion (31) is arranged on the connecting plate (34) to cooperate with the connecting plate (34) to block the circulation tooling (2).

5. The timing gear marking automatic marking device based on visual positioning according to claim 1, characterized in that: The lifting mechanism (4) comprises a lifting cylinder (41), a supporting plate (42) and a cushion block (43), wherein: The lifting cylinder (41) is vertically arranged on the turntable (1); The support plate (42) is fixed on the telescopic end of the lifting cylinder (41); when the circulation tooling (2) is located at the marking station, the support plate (42) is located outside the circulation tooling (2) and at the bottom of the timing gear; The cushion block (43) is fixed on the supporting plate (42) so as to support the bottom of the timing gear when the supporting plate (42) moves.

6. The timing gear marking automatic marking device based on visual positioning according to claim 1, characterized in that: The invention also comprises a multi-axis motion module (7), wherein the multi-axis motion module (7) is arranged on the turntable (1), the multi-axis motion module (7) comprises a movable seat (71), the laser marking machine (6) and the camera assembly (5) are both arranged on the movable seat (71), and the camera assembly (5) can move relative to the laser marking machine (6).

7. A timing gear automatic marking method based on visual positioning, characterized in that: The automatic marking device for timing gear marks based on visual positioning according to any one of claims 1 to 6 is implemented, and the automatic marking method for timing gear marks based on visual positioning comprises the following steps: After the S1 timing gear moves to the marking station, the lifting mechanism (4) lifts the timing gear; S2: the camera assembly (5) collects the gear image and performs preprocessing to obtain a preprocessed image; S3 performs image segmentation on the preprocessed image to obtain an image of the region of interest; S4 sets a timing mark template, and sets a coordinate system in the image of the region of interest according to the position of the gear keyway in the image of the region of interest; S5 transforms the coordinates of the timing mark template and the image of the region of interest accordingly to form a marking image; S6: The laser marking machine (6) performs marking operation on the timing gear according to the position information of the timing mark in the marking image.

8. The automatic marking method for timing gears based on visual positioning according to claim 7, characterized in that: The preprocessing in step S2 includes graying and median filtering the collected gear image.

9. The automatic marking method for timing gears based on visual positioning according to claim 7, characterized in that: In step S4, setting the timing mark template includes the following steps: S41 acquires a marked image of a gear with a timing mark; S42 sets a template layer on the gear marked image, and establishes a template coordinate system on the template layer with the center of the gear as the origin and the midline of the gear keyway as the Y axis; S43 sets a marking area on the template layer, and sets timing characters in the marking area to form a timing mark template.

10. The automatic marking method for timing gears based on visual positioning according to claim 7, characterized in that: The step S3 includes segmenting the pre-processed image by global thresholding, and extracting the region of interest image by morphological processing on the region at the segmentation.

Images