Mechanical marking machine and marking method

Abstract

The invention relates to the technical field of mechanical automatic packaging, in particular to a mechanical marking machine and a marking method.The marking machine comprises a bearing plane, a bearing shaft, a moving block, a marking structure, a distance measuring module and a control module, a to-be-marked curved surface part is placed on the bearing plane, and the distance measuring module is installed on the marking structure; a probe of the distance measuring module faces the to-be-marked curved part, the output end of the distance measuring module is connected with the input end of the control module, and the input end of the control module is connected with the driving end of the electric rotating disc. The distance measuring module is additionally arranged, so that the control module can obtain the included angle between the to-be-standard plane corresponding to each to-be-marked point and the horizontal plane through the distance measuring module, and therefore when each to-be-marked point is marked, the control module can control the rotating disc structure to rotate, and the angle is calculated according to the included angle; therefore, the marking needle can be perpendicular to the to-be-marked plane corresponding to each to-be-marked point, and the problem that the marking needle cannot be perpendicular to the to-be-marked plane can be solved.

Description

Technical Field

[0001] The invention relates to the field of mechanical technology, in particular to a mechanical marking machine and a marking method. Background Art

[0002] In the process of producing and processing parts, a mechanical marking machine is needed to mark the parts. The marking content is the company logo, batch number, part number, and QR code.

[0003] In the prior art, common marking machines can be divided into the following two types: Mechanical marking machines are usually equipped with a marking needle. When marking, the marking needle can be moved so that the marking needle is perpendicular to the surface to be marked of the component, so that the marking needle can be controlled to mark on the surface to be marked. Laser marking machines are usually equipped with a laser generator. When marking, the laser generator can generate a high-energy continuous laser beam. The focused laser acts on the surface to be marked, causing the surface material of the marking surface to melt instantly, thereby marking on the surface to be marked.

[0004] The surface to be marked of some parts may be curved or uneven. At this time, since the marking needle of the marking machine (and mechanical marking machine) can usually only be set at two angles (horizontal or vertical), the marking machine may not be perpendicular to the surface to be marked of the part. In this way, the marking pattern after marking may appear to be of different depths, thus affecting the marking effect. Especially when marking a QR code, the depth is different and the scanner cannot recognize it. Summary of the invention

[0005] In view of the problem in the prior art that the marking effect on the curved surface or uneven surface of a part is poor, the present invention provides a mechanical marking machine and a marking method.

[0006] The present invention is achieved through the following technical solutions: A mechanical marking machine comprises a bearing plane, a bearing shaft, a moving block, a marking structure, a distance measuring module and a control module, wherein a curved surface part to be marked is placed on the bearing plane, and the surface to be marked of the curved surface part to be marked faces the marking needle of the marking structure; a vertical bearing shaft is arranged on the bearing plane, a moving block is slidably arranged on the bearing shaft, an electric turntable is arranged on the moving block, and the marking structure is arranged on the electric turntable; the distance measuring module is installed on the marking structure, a probe of the distance measuring module faces the curved surface part to be marked, an output end of the distance measuring module is connected to an input end of a control module, and the input end of the control module is connected to a driving end of the electric turntable.

[0007] Preferably, the marking structure includes a marking platform, a rotating rod and a marking needle, the marking platform is rotatably connected to the moving block, one end of the rotating rod is connected to the marking platform, and the other end is connected to the marking needle, and the ranging module is arranged on the rotating rod.

[0008] Preferably, the distance measuring module and the marking needle are arranged side by side.

[0009] A marking method using a mechanical marking machine comprises the following steps: S1, move the marking platform to the top of the to-be-marked area of ​​the curved surface part to be marked, and the projection of the marking platform on the bearing plane covers the to-be-marked surface; The control module generates N marking points to be marked according to the input data, and obtains the coordinates of each marking point to be marked; S2, the control module controls the marking platform to move to the top of the N coordinates in sequence, and turns on the distance measurement module to measure the distance to obtain N initial distances; S3, the control module determines M secondary distances from the N initial distances; wherein the secondary distances are distances corresponding to the to-be-marked points located in the same column or row, and M is a positive integer less than or equal to N; S4, the control module determines Q preset distances that meet preset conditions from the M secondary distances; wherein the preset conditions include: the distances corresponding to consecutive adjacent marking points, the number Q is greater than or equal to a preset value, the preset distance is an increasing or decreasing distance; the preset distance is the distance between adjacent marking points, and the difference between two adjacent preset distances is greater than or equal to a preset threshold; S5, the control module calculates the angle between the surface to be marked and the horizontal plane corresponding to each point to be marked according to the Q preset distances; S6, the control module determines the rotation angle of the stepper motor in the turntable structure according to the final angle value, controls the stepper motor to rotate according to the determined angle, and controls the marking to mark any point to be marked after the rotation; S7, the control module repeats the above step S6 to mark all the points to be marked.

[0010] Preferably, in S1, the coordinates of N pixel points of the text or pattern to be marked in the preview image are determined as N coordinates corresponding to N points to be marked; wherein the preview image corresponds to the projection area of ​​the marking platform on the bearing plane.

[0011] Preferably, in S3, the secondary distance is the distance corresponding to the to-be-marked points with the same X-axis coordinates selected by the control module, or the distance corresponding to the to-be-marked points with the same Y-axis coordinates selected by the control module.

[0012] Preferably, in S5, the step of obtaining the angle between the plane to be marked and the horizontal plane corresponding to any point to be marked is: First, according to a certain mark point to be marked and the previous mark point to be marked, the first angle value is obtained respectively. and the second angle value , and then the first angle value and the second angle value Find the average value, which is the angle between the plane to be marked and the horizontal plane corresponding to the point to be marked.

[0013] A marking method of the mechanical marking machine comprises the following steps: S1, the control module determines X groups of reference points from N points to be marked; S2, the control module obtains the coordinates of the reference points included in each group of reference points; S3, the control module controls the marking platform to move sequentially to the top of the coordinates of the reference points included in each group of reference points, and turns on the distance measurement module to measure the distance; S4, the control module determines Q preset distances that meet preset conditions from the M secondary distances; wherein the preset conditions include: the distances corresponding to consecutive adjacent points to be marked, the number Q is greater than or equal to a preset value, and the preset distance is an increasing or decreasing distance; S5, the control module calculates the angle between the surface to be marked and the horizontal plane corresponding to each point to be marked according to the Q preset distances; S6, the control module determines the rotation angle of the stepper motor in the turntable structure according to the final angle value, controls the stepper motor to rotate according to the determined angle, and controls the marking to mark any point to be marked after the rotation; S7, the control module repeats the above step S6 to mark all the points to be marked.

[0014] Preferably, in S1, each group of reference points includes at least two reference points located in the same column, and different groups of reference points correspond to different rows. The reference points are selected as follows: one reference point is selected for every Z points to be marked, or the first Z points to be marked are selected as reference points, or the middle Z points to be marked are selected as reference points, or the last Z points to be marked are selected as reference points, and Z is a positive integer.

[0015] Preferably, the control module calculates the angle between the surface to be marked corresponding to each column of reference points and the horizontal plane according to each group of reference points.

[0016] Compared with the prior art, the present invention has the following beneficial effects: A mechanical marking machine of the present invention is provided with a distance measuring module, and the angle between the marking surface corresponding to the current marking point and the marking surface corresponding to the adjacent marking point and the horizontal plane is measured by the distance measuring module, so that the angle between the marking needle and the horizontal plane can be adjusted to make the marking needle perpendicular to the marking surface corresponding to the current marking point, and marking is performed in this way, so as to avoid the situation where the marking pattern after marking has different depths, thereby improving the marking effect.

[0017] In a marking method of the present invention, a control module combines distance measurement technology with a control algorithm to achieve high-precision marking of curved surface parts, and at the same time, two distance measurements are performed to ensure the accuracy of measurement data, that is, firstly, the angle between the surface to be marked where each point to be marked is located and the horizontal plane is determined in turn, and the angle of the marking needle is adjusted in turn according to the angle, so that when marking each point to be marked, the marking needle is perpendicular to the surface to be marked where each point to be marked is located, thereby solving the problem in the prior art that the marking needle cannot be perpendicular to the surface to be marked of the component, and improving the marking effect.

[0018] Furthermore, the average value method can reduce the impact of measurement errors on the results and improve the accuracy of marking. By accurately calculating the angle between the marking needle and the surface to be marked, and controlling the marking needle to rotate and mark according to the calculated angle, it can ensure that the marking needle and the surface to be marked remain vertical or nearly vertical, thereby obtaining a clear and accurate marking effect.

[0019] In a marking method of the present invention, a control module can calculate only a small number of reference points without calculating for each point to be marked, thereby reducing the amount of calculation and saving energy consumption while ensuring that the problem in the prior art that the marking needle cannot be perpendicular to the surface to be marked of the component is solved.

[0020] Furthermore, each group of reference points includes at least two reference points in the same column, and different groups of reference points are located in different rows. This selection strategy helps to calculate the angle more accurately while reducing the amount of calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a mechanical marking machine of the present invention; Figure 2 is a flow chart of a marking method of the present invention; Figure 3 It is a flow chart of a marking method of the present invention.

[0022] In the figure, 10, bearing plane; 101, surface to be marked; 11, bearing shaft; 12, marking table; 13, moving block; 14, marking needle; 141, turntable structure; 142, rotating rod; 15, distance measurement module. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below in conjunction with specific embodiments, which are intended to explain the present invention rather than to limit it.

[0024] The present invention discloses a mechanical marking machine, referring to Figure 1, including a bearing plane 10, a bearing shaft 11, a moving block 13, a marking structure, a distance measurement module 15 and a control module. The curved surface parts to be marked are placed on the bearing plane 10, and the marking surface 101 of the curved surface parts to be marked faces the marking needle 14 of the marking structure; a vertical bearing shaft 11 is arranged on the bearing plane 10, a moving block 13 is slidably arranged on the bearing shaft 11, an electric turntable is arranged on the moving block 13, and the marking structure is arranged on the electric turntable. The bearing plane 10 is used to stably place the curved surface parts to be marked to ensure stability during the marking process. The vertical bearing shaft 11 and the sliding moving block 13 constitute a flexible moving system, so that the marking structure can easily cover various areas to be marked of the parts.

[0025] The marking structure includes a marking platform 12, a rotating rod 142 and a marking needle 14. The marking platform 12 is rotatably connected to the moving block 13. One end of the rotating rod 142 is connected to the marking platform 12, and the other end is connected to the marking needle 14. The distance measuring module 15 is arranged on the rotating rod 142, and the distance measuring module 15 and the marking needle 14 are arranged side by side, which helps to more accurately measure the distance between the marking needle 14 and the surface of the part, thereby improving the marking accuracy. Specifically, the distance measuring module 15 adopts an infrared distance measuring module 15, which can realize non-contact high-precision distance measurement and avoid errors that may be introduced by traditional contact measurement. The rotating rod 142 is divided into two sections, which are recorded as the first part and the second part. One end of the first part is rotatably connected to the marking table 12, and the other end is rotatably connected to the second part. The marking needle 14 is arranged at an end of the second part away from the first part. The shell of the ranging module 15 is installed below the second part. The transmitting head of the ranging module 15 faces downward. The marking axis of the marking needle 14 is parallel to the ray axis of the ranging module 15. The marking needle 14 and the ranging module 15 are arranged side by side in the second part of the rotating rod 142, ensuring the synchronization and accuracy of ranging and marking.

[0026] The output end of the distance measuring module 15 is connected to the input end of the control module, and the input end of the control module is connected to the driving end of the electric turntable. Specifically, the electric turntable is driven by a high-precision servo motor so that it can be quickly adjusted to the required angle under the command of the control module to ensure the verticality of the marking needle 14 and the plane to be marked.

[0027] The distance measuring module 15 is used to obtain the distance between each point to be marked and the marking platform, and the control module is used to receive the data obtained by the distance measuring module 15, obtain the angle between the plane to be marked and the horizontal plane according to the processed data, and control the electric turntable to rotate according to the angle. The distance information between each point to be marked and the marking platform is measured by the distance measuring module 15, and these data are transmitted to the control module in real time; at the same time, the arrangement of multiple distance measuring points can further improve the adaptability of the system to objects to be marked of different shapes and positions. Based on these distance data, the control module calculates the angle of the plane to be marked relative to the horizontal plane through an algorithm. Subsequently, the control module instructs the electric turntable to rotate accurately according to the calculated angle, and adjusts the marking needle 14 to a position perpendicular to the plane to be marked, thereby ensuring the marking quality and accuracy.

[0028] Based on the above mechanical marking machine, the present invention also discloses a marking method using the mechanical marking machine, referring to Figure 2 , including the following steps: S1, move the marking platform 12 to the top of the area to be marked of the curved surface part to be marked, and the projection of the marking platform on the bearing plane 10 covers the surface to be marked 101; specifically, the coordinates of the N pixel points of the text or pattern to be marked in the preview image are determined as the N coordinates corresponding to the N points to be marked; wherein the preview image corresponds to the projection area of ​​the marking platform on the bearing plane 10. For example, the pixel point in the first row and first column of the preview image corresponds to the point in the first row and first column of the projection of the marking platform on the bearing plane 10.

[0029] The control module generates N marking points to be marked according to the input data and obtains the coordinates of each marking point to be marked.

[0030] S2, the control module controls the marking platform to move to the top of the N coordinates in sequence, and turns on the distance measurement module 15 to measure the distance to obtain N initial distances.

[0031] S3, the control module determines M secondary distances from the N initial distances; wherein the secondary distances are distances corresponding to the to-be-marked points located in the same column or row, and M is a positive integer less than or equal to N.

[0032] Specifically, the secondary distance is the distance corresponding to the to-be-marked points with the same X-axis coordinates selected by the control module, or the distance corresponding to the to-be-marked points with the same Y-axis coordinates selected by the control module. For example, the control module may select the to-be-marked point (X1, Y1), the to-be-marked point (X2, Y2), the to-be-marked point (X3, Y3), or may select the to-be-marked point (X1, Y1), the to-be-marked point (X2, Y1), the to-be-marked point (X3, Y1).

[0033] S4, the control module determines Q preset distances that meet the preset conditions from the M secondary distances; wherein the preset conditions include: the distances corresponding to consecutive adjacent marking points, the number Q is greater than or equal to the preset value, and the preset distance is an increasing or decreasing distance; the preset distance is the distance between adjacent marking points, and the difference between two adjacent preset distances is greater than or equal to the preset threshold.

[0034] If Q preset distances are the distances corresponding to Q consecutive adjacent marking points in the same column or row, and the number of Q is greater than or equal to the preset value, and the Q distances are increasing or decreasing, then it can be considered that the marking surface 101 corresponding to the Q marking points is a curved surface or an uneven surface, so the control module needs to determine the Q distances from the M distances to determine the angle between the marking plane corresponding to the Q distances and the horizontal plane.

[0035] S5, the control module calculates the angle between the to-be-marked surface 101 and the horizontal plane corresponding to each to-be-marked point according to the Q preset distances. Specifically, the steps for obtaining the angle between the to-be-marked surface 101 and the horizontal plane corresponding to any to-be-marked point are as follows: First, according to a certain mark point to be marked and the previous mark point to be marked, the first angle value is obtained respectively. and the second angle value , and then the first angle value and the second angle value Find the average value, which is the angle between the plane to be marked and the horizontal plane corresponding to the point to be marked.

[0036] in,

[0037] In the formula, is the first angle value, is the distance corresponding to any of the above-mentioned points to be marked, The distance corresponding to the previous mark point of any mark point to be marked; is the ordinate or abscissa of any of the above-mentioned points to be marked, It is the ordinate or abscissa of the previous punctuation point to be marked.

[0038] It can be understood that the distance between any to-be-marked point and the previous to-be-marked point of the to-be-marked point is usually very small, so the distance between the two points can be regarded as a plane (and an inclined plane).

[0039] In the formula, is the second angle value, is the distance corresponding to any of the above-mentioned points to be marked, The distance corresponding to the next mark point to be marked of any mark point to be marked; is the ordinate or abscissa of any of the above punctuation points to be marked (if the punctuation points selected above are in the same column, it is the ordinate, otherwise it is the abscissa), It is the ordinate or abscissa of any point to be marked.

[0040] It can be understood that the distance between two adjacent marking points is very short, therefore, the marking plane between two adjacent marking points can be considered as a plane, and the above Q marking points are the marking points located in the same row or column, therefore, the above algorithm formula can be used to directly calculate the angle between the marking plane where any of the above marking points is located and the horizontal plane.

[0041] S6, the control module determines the rotation angle of the stepper motor in the turntable structure 141 according to the final angle value, controls the stepper motor to rotate according to the determined angle, and controls the marking needle 14 to mark any point to be marked after the rotation.

[0042] S7, the control module repeats the above step S6 to mark all the points to be marked.

[0043] In a marking method provided by the present invention, a control module can sequentially determine the angle between a surface to be marked 101 where each point to be marked is located and a horizontal plane, and sequentially adjust the angle of a marking needle 14 according to the angle, so that when marking each point to be marked, the marking needle 14 is perpendicular to the surface to be marked where each point to be marked is located, thereby solving the problem in the prior art that the marking needle 14 cannot be perpendicular to the surface to be marked 101 of the component, thereby improving the marking effect.

[0044] The present invention also discloses another marking method, referring to Figure 3 , the difference from the above marking method lies in S1~S3, as follows: S1, the control module determines X groups of reference points from N points to be marked. The selection strategy of the reference points can be flexibly adjusted according to the actual situation to adapt to curved parts of different shapes and sizes.

[0045] In this embodiment, each group of reference points includes at least two reference points located in the same column, and different groups of reference points correspond to different rows.

[0046] The reference point selection method is: select a reference point every Z points to be marked, or select the first Z points to be marked as reference points, or select the middle Z points to be marked as reference points, or select the last Z points to be marked as reference points, where Z is a positive integer. For example, the first point to be marked, the third point to be marked, and the fifth point to be marked in the first column can be selected as reference points, that is, a reference point is selected every other point to be marked; or the first point to be marked, the second point to be marked, and the third point to be marked in the first column can be selected as reference points, that is, the first three points to be marked are selected as reference points.

[0047] For example, the X group of reference points includes the first group of reference points, the second group of reference points and the third group of reference points, wherein the first group of reference points includes the to-be-marked point (X1, Y1), the to-be-marked point (X2, Y1) and the to-be-marked point (X3, Y1), and the marking point (X1, Y1), the to-be-marked point (X2, Y1) and the to-be-marked point (X3, Y1) are located in the same row; the second group of reference points includes the to-be-marked point (X1, Y2), the to-be-marked point (X2, Y2) and the to-be-marked point (X3, Y2), and the to-be-marked point (X1, Y2), the to-be-marked point (X2, Y2) and the to-be-marked point (X3, Y2) are located in the same row. The third group of reference points includes the point to be marked (X1, Y3), the point to be marked (X2, Y3), and the point to be marked (X3, Y3). The point to be marked (X1, Y3), the point to be marked (X2, Y3), and the point to be marked (X3, Y3) are located in the same row; the reference points in the first group of reference points and the reference points in the second group of reference points are located in different columns, and the reference points in the second group of reference points and the reference points in the third group of reference points are located in different columns.

[0048] S2, the control module obtains the coordinates of the reference points included in each group of reference points; S3, the control module controls the marking platform to move sequentially to the top of the coordinates of the reference points included in each group of reference points, and turns on the distance measurement module 15 to measure the distance; S4~S7 are the same as the steps in the above-mentioned marking method.

[0049] A marking method of the present invention significantly reduces the amount of calculation and energy consumption, and improves the marking efficiency by intelligently selecting reference points and optimizing the angle calculation method. The control module calculates the angle between the surface 101 to be marked corresponding to each column of reference points and the horizontal plane according to each group of reference points, that is, the control module can apply the angle between the surface 101 to be marked corresponding to each column of reference points and the horizontal plane to each column of points to be marked, so there is no need to calculate for each point to be marked as in the second embodiment. Only a small number of reference points are calculated, which can solve the problem in the prior art that the marking needle 14 cannot be perpendicular to the surface 101 to be marked of the component, while reducing the amount of calculation and saving energy consumption.

[0050] In summary, the present invention achieves high-precision marking of curved parts by introducing the distance measurement module 15 for distance measurement combined with average angle calculation and efficient automatic control. It is not only suitable for the marking needs of parts with various complex shapes, but also provides strong technical support for improving production efficiency and product quality.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to impose any limitation on the technical solution of the present invention. Those skilled in the art should understand that, without departing from the spirit and principles of the present invention, the technical solution can also be subjected to several simple modifications and substitutions, and these modifications and substitutions are also within the scope of protection covered by the claims.

Claims

1. A mechanical marking machine, characterized in that: It comprises a bearing plane (10), a bearing shaft (11), a moving block (13), a marking structure, a distance measuring module (15) and a control module; The curved surface part to be marked is placed on the bearing plane (10), and the marking surface (101) of the curved surface part to be marked faces the marking structure; the bearing plane (10) is provided with the bearing shaft (11), the moving block (13) is slidably provided on the bearing shaft (11), the moving block (13) is provided with an electric turntable, and the marking structure is provided on the electric turntable; the distance measuring module (15) is installed on the marking structure, the probe of the distance measuring module (15) faces the curved surface part to be marked, the output end of the distance measuring module (15) is connected to the input end of the control module, and the input end of the control module is connected to the driving end of the electric turntable; The distance measuring module (15) is used to obtain the distance between each to-be-marked point and the marking platform; The control module is used to receive data obtained by the distance measuring module (15), obtain the angle between the plane to be marked and the horizontal plane according to the processed data, and control the electric turntable to rotate according to the angle.

2. The mechanical marking machine according to claim 1, characterized in that: The marking structure comprises a marking platform (12), a rotating rod (142) and a marking needle (14); the marking platform (12) is rotatably connected to a moving block (13); one end of the rotating rod (142) is connected to the marking platform (12) and the other end is connected to the marking needle (14); and the distance measuring module (15) is arranged on the rotating rod (142).

3. The mechanical marking machine according to claim 1, characterized in that: The distance measuring module (15) and the marking needle (14) are arranged side by side.

4. A marking method using the mechanical marking machine according to claims 1 to 3, characterized in that: The following steps are involved: S1, moving the marking platform (12) to the position directly above the area to be marked of the curved surface part to be marked, and the projection of the marking platform on the bearing plane (10) covers the surface to be marked (101); The control module generates N marking points to be marked according to the input data, and obtains the coordinates of each marking point to be marked; S2, the control module controls the marking platform to move to the top of the N coordinates in sequence, and turns on the distance measurement module (15) to measure the distance to obtain N initial distances; S3, the control module determines M secondary distances from the N initial distances; wherein the secondary distances are distances corresponding to the to-be-marked points in the same column or row, and M is a positive integer less than or equal to N; S4, the control module determines Q preset distances that meet preset conditions from the M secondary distances; wherein the preset conditions include: the distances corresponding to consecutive adjacent marking points, the number Q is greater than or equal to a preset value, the preset distance is an increasing or decreasing distance; the preset distance is the distance between adjacent marking points, and the difference between two adjacent preset distances is greater than or equal to a preset threshold; S5, the control module calculates the angle between the to-be-marked surface (101) corresponding to each to-be-marked point and the horizontal plane according to the Q preset distances; S6, the control module determines the rotation angle of the stepper motor in the turntable structure (141) according to the final angle value, controls the stepper motor to rotate according to the determined angle, and controls the marking needle (14) to mark any point to be marked after the rotation; S7, the control module repeats the above step S6 to mark all the points to be marked.

5. The marking method according to claim 4, characterized in that: In S1, the coordinates of N pixel points of the text or pattern to be marked in the preview image are determined as N coordinates corresponding to N points to be marked; wherein the preview image corresponds to the projection area of ​​the marking platform on the carrying plane (10).

6. The marking method according to claim 4, characterized in that: In S3, the secondary distance is the distance corresponding to the to-be-marked points with the same X-axis coordinates selected by the control module, or the distance corresponding to the to-be-marked points with the same Y-axis coordinates selected by the control module.

7. The marking method according to claim 4, characterized in that: In S5, the steps for obtaining the angle between the plane to be marked and the horizontal plane corresponding to any point to be marked are: First, according to a certain mark point to be marked and the previous mark point to be marked, the first angle value is obtained respectively. and the second angle value , and then the first angle value and the second angle value Find the average value, which is the angle between the plane to be marked and the horizontal plane corresponding to the point to be marked.

8. A marking method using the mechanical marking machine according to claims 1 to 3, characterized in that: The following steps are involved: S1, the control module determines X groups of reference points from N points to be marked; S2, the control module obtains the coordinates of the reference points included in each group of reference points; S3, the control module controls the marking platform to move sequentially to the top of the coordinates of the reference points included in each group of reference points, and turns on the distance measurement module (15) to measure the distance; S4, the control module determines Q preset distances that meet preset conditions from the M secondary distances; wherein the preset conditions include: the distances corresponding to consecutive adjacent points to be marked, the number Q is greater than or equal to a preset value, and the preset distance is an increasing or decreasing distance; S5, the control module calculates the angle between the to-be-marked surface (101) corresponding to each to-be-marked point and the horizontal plane according to the Q preset distances; S6, the control module determines the rotation angle of the stepper motor in the turntable structure (141) according to the final angle value, controls the stepper motor to rotate according to the determined angle, and controls the marking needle (14) to mark any point to be marked after the rotation; S7, the control module repeats the above step S6 to mark all the points to be marked.

9. The marking method according to claim 8, characterized in that: In S1, each group of reference points includes at least two reference points located in the same column, and different groups of reference points correspond to different rows; The reference points are selected as follows: one reference point is selected for every Z points to be marked, or the first Z points to be marked are selected as reference points, or the middle Z points to be marked are selected as reference points, or the last Z points to be marked are selected as reference points, where Z is a positive integer.

10. The marking method according to claim 8, characterized in that: The control module calculates the angle between the surface to be marked (101) corresponding to each column of reference points and the horizontal plane according to each group of reference points.

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