Multi-angle marking device and multi-angle marking equipment

Abstract

The utility model discloses a multi-angle marking device which comprises a fastening assembly, a connecting assembly and a marking assembly. The fastening assembly is arranged on the outer wall of the tightening gun body in a sleeving mode, and the marking assembly is connected with the fastening assembly through the connecting assembly. The marking assembly comprises a first marking plate, a second marking plate and a third marking plate. The first marking plate, the second marking plate and the third marking plate are arranged in the circumferential direction of the tightening gun body. The first marking plate, the second marking plate and the third marking plate are each provided with a plurality of light reflecting points, and the light reflecting points are suitable for outputting light reflecting information for the recognition system to position the position of the tightening gun body. And through the arrangement of the marking assembly, the products can be marked at multiple angles under the cooperation of the recognition system, and the working efficiency is improved. The utility model further provides multi-angle marking equipment which comprises the recognition system, the tightening gun body and the multi-angle marking device, and the multi-angle marking device is connected with the tightening gun body.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial detection, in particular to a multi-angle marking device and multi-angle marking equipment. Background Art

[0002] With the trend of highly refined and automated modern industrial production, the use of marking plates and tightening guns to mark product positions has become a widely used operation mode. This mode is used in many manufacturing fields, such as automobile manufacturing, electronic product assembly, and mechanical parts processing, and plays a key role in ensuring the accuracy and consistency of product assembly.

[0003] However, the current marking board technology has obvious shortcomings, and it can only complete the work task for a single side of the product. In the existing technology, once the production process involves processing multiple sides of the product within the visual range of the recognition system, when the operating side needs to be changed, it has to face a cumbersome calibration process.

[0004] This is because the existing marking plate system lacks the ability to adapt to multi-faceted work scenarios. The marking plate on the tightening gun needs to be recalibrated every time the working surface is changed. This not only greatly increases the workload and time cost of the operator, but also the frequent manual calibration operations are prone to introduce errors, which seriously restricts the improvement of production efficiency and product quality, and becomes a major obstacle to the development of industrial production towards a more efficient and precise direction.

[0005] Therefore, in practical applications, the existing marking plates are inefficient when operating on multiple sides of a product. Utility Model Content

[0006] The technical problem to be solved by the utility model is that the existing marking plate has low efficiency when operating on multiple sides of a product.

[0007] The utility model discloses a multi-angle marking device, which is suitable for being connected with a tightening gun body and cooperating with an identification system to mark products at multiple angles. The multi-angle marking device comprises a fastening component, a connecting component and a marking component.

[0008] The fastening assembly is sleeved on the outer wall of the tightening gun body, and the marking assembly is connected to the fastening assembly through the connecting assembly.

[0009] The marking assembly comprises a marking plate, and the marking plate comprises a first marking plate, a second marking plate and a third marking plate. The first marking plate, the second marking plate and the third marking plate are arranged along the circumference of the tightening gun body.

[0010] The first end faces of the first marking plate, the second end faces of the second marking plate and the third marking plate all face the tightening gun body and are suitable for connecting the connecting assembly, the second end face of the first marking plate faces opposite to the first end face of the first marking plate, the second end face of the second marking plate faces opposite to the first end face of the second marking plate, and the second end face of the third marking plate faces opposite to the first end face of the third marking plate.

[0011] An angle between the first end surface of the first marking plate and the first end surface of the second marking plate is less than 180 degrees, and an angle between the first end surface of the second marking plate and the first end surface of the third marking plate is less than 180 degrees.

[0012] The second end surface of the first marking plate, the second end surface of the second marking plate and the second end surface of the third marking plate all have a plurality of reflective spots, and the reflective spots are suitable for outputting reflective information for the identification system to locate the position of the tightening gun body.

[0013] Optionally, the connection assembly includes a fixing portion. The fixing portion has a U-shaped cross section and includes a first connecting plate, an intermediate plate and a second connecting plate.

[0014] The first connecting plate is connected to the second connecting plate through the middle plate. The first connecting plate is connected to the fastening assembly, the middle plate extends outwardly along the radial direction of the tightening gun body, and the second connecting plate is connected to the second marking plate.

[0015] Optionally, the connection assembly further includes: a first adjustment portion and a second adjustment portion. The first marking plate is rotatably connected to the middle plate via the first adjustment portion, and the third marking plate is rotatably connected to the middle plate via the second adjustment portion.

[0016] Optionally, the first adjusting part and the second adjusting part are both swing arm structures. The swing arm structure includes: a large swing arm and a small swing arm.

[0017] The first end of the large swing arm is rotatably connected to the middle plate, the second end of the large swing arm is rotatably connected to the first end of the small swing arm, and the second end of the small swing arm is connected to the first marking plate or the third marking plate.

[0018] Optionally, the second end surface of the first marking plate, the second end surface of the second marking plate and the second end surface of the third marking plate each have a plurality of schematic points, the schematic points are suitable for locating the center position of one of the reflective points, and the reflective points are covered on the schematic points.

[0019] The plurality of schematic points are arranged in an array, and the point spacing between the plurality of schematic points is a fixed value.

[0020] Optionally, on the marking plate, the plurality of reflective dots are suitable for forming a non-centrosymmetric arrangement pattern based on the schematic dots.

[0021] Optionally, the second end surface of the first marking plate, the second end surface of the second marking plate, and the second end surface of the third marking plate all have different arrangement patterns.

[0022] Optionally, on the same marking plate, the number of the schematic points is M, M≥6, and the number of the reflective points is N, M>N≥3. The plurality of reflective points are suitable for forming at least two intersecting straight lines.

[0023] The utility model also discloses a multi-angle marking device, comprising: an identification system, a tightening gun body and a multi-angle marking device. The multi-angle marking device is connected to the tightening gun body.

[0024] The recognition system comprises: a 3D camera and a processing unit, wherein the 3D camera is adapted to recognize the reflective information output by the reflective points in the multi-angle marking device, and the processing unit is adapted to locate the position of the tightening gun body based on the reflective information recognized by the 3D camera.

[0025] Optionally, the reflective information carries information volume, and the processing unit is suitable for locating the position of the tightening gun body based on the mark plate corresponding to the mark plate carrying the larger information volume when the 3D camera simultaneously receives reflective information from at least two mark plates.

[0026] Due to the adoption of the above technical solution, the utility model has the following beneficial effects compared with the prior art: by providing a plurality of marking plates with different angles in the marking component, the product can be marked at multiple angles with the cooperation of the identification system, thereby improving the operating efficiency of the multi-angle marking device.

[0027] The above description of the disclosed contents and the following description of the implementation modes are used to demonstrate and explain the spirit and principle of the present utility model, and to provide a further explanation of the patent application scope of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The specific implementation of the utility model will be further described in detail below with reference to the accompanying drawings.

[0029] Figure 1 This is a schematic diagram of the application structure of a multi-angle marking device according to an embodiment of the utility model;

[0030] Figure 2 This is a schematic diagram of the structure of the multi-angle marking device in the embodiment of the utility model;

[0031] Figure 3 for Figure 2The enlarged schematic diagram of point A in the middle;

[0032] Figure 4 It is a bottom view structural diagram of the connection component and the marking component in the embodiment of the utility model;

[0033] Figure 5 This is a schematic diagram of the structure of the swing arm structure and the fixing part in the embodiment of the utility model;

[0034] Figure 6 It is a schematic diagram of an arrangement pattern of a group of marking components in an embodiment of the present utility model.

[0035] Description of Figure Numbers:

[0036] 1. Tighten the gun body; 11. Gun head; 2. Fastening assembly; 3. Connecting assembly; 31. Fixing part; 311. First connecting plate; 312. Middle plate; 313. Second connecting plate; 32. First adjusting part; 33. Second adjusting part; 321. Large swing arm; 322. Small swing arm; 323. First adjusting hole; 324. Second adjusting hole; 4. Marking assembly; 41. First marking plate; 42. Second marking plate; 43. Third marking plate; 441. Reflective point; 442. Schematic point. DETAILED DESCRIPTION

[0037] The following is an explanation of the implementation of the present invention by specific specific embodiments. Those skilled in the art can easily understand other advantages and functions of the present invention from the contents disclosed in this specification. Although the description of the present invention will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this utility model are limited to this implementation. On the contrary, the purpose of introducing the utility model in conjunction with the implementation is to cover other options or modifications that may be extended based on the claims of the present invention. In order to provide a deep understanding of the present invention, the following description will include many specific details. The present invention can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present invention, some specific details will be omitted in the description. It should be noted that, in the absence of conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0038] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the utility model product is usually placed when in use. They are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0039] The terms “first”, “second”, etc. are only used for distinguishing descriptions and should not be understood as indicating or implying relative importance.

[0040] In the description of this embodiment, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "provided with", "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0041] See also Figure 1 As shown, the present application discloses a multi-angle marking device, which is suitable for connecting with a tightening gun body 1 and cooperating with an identification system to mark products at multiple angles, including: a fastening component 2, a connecting component 3 and a marking component 4.

[0042] The above components are described in detail below.

[0043] See also Figure 1 Combined with Figure 2 As shown, in this embodiment, the fastening component 2 is sleeved on the outer wall of the tightening gun body 1. Since the tightening gun body 1 is cylindrical throughout, the fastening component 2 is annular and fits the outer wall of the tightening gun body 1. In this application, the fastening component 2 can be realized by a clamp.

[0044] The present application does not limit the specific structure and position of the fastening component 2, and can be reasonably selected and set according to actual needs, as long as the connection component 3 can be fixed and is in a stable state relative to the tightening gun body 1, and does not affect the work of the staff.

[0045] Further, see Figure 2 As shown, the first end of the connecting component 3 is connected to the fastening component 2, and the second end of the connecting component 3 is connected to the marking component 4. The first end of the connecting component 3 and the second end of the connecting component 3 are two opposite ends, and the second end of the connecting component 3 is an end away from the fastening component 2.

[0046] The marking assembly 4 includes a marking plate, and the marking plate includes a first marking plate 41 , a second marking plate 42 and a third marking plate 43 .

[0047] The first marking plate 41 , the second marking plate 42 and the third marking plate 43 are arranged along the circumference of the tightening gun body 1 .

[0048] The marking plate needs to cooperate with the identification system to complete the positioning of the tightening gun body 1. In the present embodiment, the tightening gun body 1 is an elbow-type tightening gun, which has a gun head 11. The gun head 11 is suitable for accommodating a screwdriver bit for tightening. Therefore, when the tightening gun body 1 is working, the gun head 11 faces the working surface of the product. At this time, the identification system needs to identify the marking plate. Therefore, the marking plate is installed on the end of the tightening gun body 1 opposite to the gun head 11 to ensure that when the tightening gun body 1 is operating, the identification system can identify the marking plate to accurately locate the position of the gun head 11 in the tightening gun body 1.

[0049] The present application does not limit the specific type of the tightening gun body 1, and it can be reasonably selected and configured according to actual needs.

[0050] The specific process of locating the position of the gun head 11 in the tightening gun body 1 through the recognition system is as follows: within the visual range of the recognition system, first adjust the marking plate to an angle that can be recognized when the tightening gun body 1 is in operation and fix the position and angle of the marking plate, so that a plane with an origin can be determined, and the x-axis and y-axis on the plane can be determined according to the arrangement pattern, then place a screw in the screw hole to be tightened on the working surface of the product, and put the gun head 11 of the tightening gun body 1 on the screw, and rotate the gun barrel one circle with the gun head 11 as the origin and shake the gun barrel up and down. During the shaking, the recognition system collects a certain number of photos to generate a simulated ball similar to a sphere, the center of which is the position of the gun head 11 of the tightening gun body 1, that is, determine the virtual coordinate z axis to determine the position of the gun head 11, thereby achieving the purpose of being able to locate the gun head 11 when the recognition system recognizes a marking plate. In this application, there are three marking plates, and each marking plate needs to be located separately according to the above steps, so that the calibration of the tightening gun body 1 is completed.

[0051] The first end face of the first marking plate 41, the first end face of the second marking plate 42 and the first end face of the third marking plate 43 all face the tightening gun body 1 and are suitable for connecting the connecting assembly 3, the second end face of the first marking plate 41 faces opposite to the first end face of the first marking plate 41, the second end face of the second marking plate 42 faces opposite to the first end face of the second marking plate 42, and the second end face of the third marking plate 43 faces opposite to the first end face of the third marking plate 43.

[0052] The angle between the first end face of the first marking plate 41 and the first end face of the second marking plate 42 is less than 180 degrees and greater than 0 degrees, and the angle between the first end face of the second marking plate 42 and the first end face of the third marking plate 43 is less than 180 degrees and greater than 0 degrees. This can avoid the situation where the three marking plates are invalid or in the same plane.

[0053] The number of marking plates is at least two. The present application does not limit the specific number, structure and placement of the marking plates. Reasonable selection and arrangement can be made according to actual needs, as long as the multi-angle products can be marked accordingly.

[0054] In this embodiment, see Figure 6 As shown, the second end face of the first marking plate 41, the second end face of the second marking plate 42 and the second end face of the third marking plate 43 all have a plurality of reflective points 441, and the reflective points 441 are suitable for outputting reflective information for the identification system to locate the position of the tightening gun body 1. The plurality of reflective points 441 are made of special reflective materials and can be identified by the identification system.

[0055] In addition, the second end face of the first marking plate 41, the second end face of the second marking plate 42 and the second end face of the third marking plate 43 each have a plurality of schematic points 442, and the schematic points 442 are suitable for locating the center position of one of the reflective points 441, and the reflective point 441 is covered on the schematic points 442.

[0056] The plurality of schematic points 442 are arranged in an array, and the point spacing of the plurality of schematic points 442 is a fixed value. The schematic points in the present application are arranged in a 3×4 array, and can be reasonably selected and set as needed, such as 2×3, 4×5, etc., to construct different combinations of reflective points 441.

[0057] By providing a plurality of schematic points 442, the present application can quickly determine the position of a single reflective point 441, thereby improving the work efficiency of the staff.

[0058] Furthermore, the plurality of reflective points 441 are suitable for forming a non-center-symmetrical arrangement pattern based on the schematic points 442. Since the orientation of the tightening gun body 1 during operation is multi-directional, and the recognition system corresponds to the position of the gun head 11 through the arrangement pattern formed by the reflective points 441, therefore, when the arrangement pattern formed by the reflective points 441 is center-symmetrical, the original position of the tightening gun body 1 is consistent with the arrangement pattern presented by the position rotated 180 degrees around the gun head 11, which results in the inaccurate effect of the recognition system locking the position of the gun head 11.

[0059] Specifically, in order to further distinguish and identify each marking plate, the second end face of the first marking plate 41, the second end face of the second marking plate 42 and the second end face of the third marking plate 43 all have different arrangement patterns, so that the calibrated arrangement pattern can be identified by the recognition system, and the spatial position of the gun tip 11 can be located accordingly.

[0060] More specifically, on the same marking plate, the number of the schematic points 442 is M, M≥6, that is, the minimum number of schematic points 442 on the marking plate is a 2×3 array arrangement, and the number of the reflective points 441 is N, M>N≥3. The number of the schematic points 442 cannot be the same as the number of the reflective points 441 because the arrangement pattern at this time does not meet the non-central symmetry requirement.

[0061] In addition, the second end face of the first marking plate 41, the second end face of the second marking plate 42 and the second end face of the third marking plate 43 all have different arrangement patterns, and the different arrangement patterns cannot be centrally symmetrical to each other, so as to avoid the tightening gun body 1 being recognized by the recognition system as having a consistent arrangement pattern during the rotation operation, thereby causing the recognition system to lock the position of the gun head 11 inaccurately.

[0062] The plurality of light-reflecting points 441 are suitable for forming at least two intersecting straight lines, thereby providing a plane with an origin for the recognition system, where the origin is the position of a light-reflecting point 441 on the marking plate.

[0063] Figure 6 This is only one combination of the arrangement patterns of the three marking plates in the present application. Other different arrangement patterns that meet the above conditions can also be used for combination, and can be reasonably selected or set according to user needs.

[0064] Further, see Figure 1 Combined with Figure 2 As shown, in this embodiment, the connecting assembly 3 includes: a fixing portion 31, a first adjusting portion 32 and a second adjusting portion 33. The fixing portion 31 is used to fix the second marking plate 42, the first adjusting portion 32 is used to connect the first marking plate 41, and the second adjusting portion 33 is used to connect the third marking plate 43.

[0065] See also Figure 5 As shown, the cross section of the fixing portion 31 is in the shape of a U, and the fixing portion 31 comprises: a first connecting plate 311, an intermediate plate 312 and a second connecting plate 313. The first connecting plate 311 is connected to the second connecting plate 313 through the intermediate plate 312.

[0066] The first connecting plate 311 is connected to the fastening assembly 2 , the middle plate 312 extends radially outwardly of the tightening gun body 1 , and the second connecting plate 313 is connected to the second marking plate 42 .

[0067] The first marking plate 41 is rotatably connected to the middle plate 312 through the first adjusting portion 32, and the third marking plate 43 is rotatably connected to the middle plate 312 through the second adjusting portion 33. In this way, the marking plate can be adjusted at different angles to meet the requirements of marking and positioning at different angles of multi-angle products, making the adaptability of the multi-angle marking device more comprehensive.

[0068] Furthermore, the first adjusting portion 32 and the second adjusting portion 33 are both swing arm structures. The swing arm structure includes: a large swing arm 321 and a small swing arm 322 .

[0069] The first end of the large swing arm 321 is rotatably connected to the middle plate 312 , the second end of the large swing arm 321 is rotatably connected to the first end of the small swing arm 322 , and the second end of the small swing arm 322 is connected to the first marking plate 41 or the third marking plate 43 .

[0070] See also Figure 3 Combined with Figure 4 It can be seen that the middle plate 312 has a first perforation, a second perforation and a fourth perforation, the first adjustment part 32 has a third perforation and a first adjustment hole 323, the first perforation, the second perforation and the fourth perforation are all small circular holes, and the first perforation of the middle plate 312 coincides with the third perforation of the large swing arm 321 in the first adjustment part 32, and the first adjustment hole 323 on the large swing arm 321 in the first adjustment part 32 cooperates with the second perforation of the middle plate 312, so as to realize that the first end of the large swing arm 321 in the first adjustment part 32 is rotatably connected to the middle plate 312.

[0071] Similarly, the second adjustment part 33 has a second adjustment hole 324, and the second adjustment hole 324 in the second adjustment part 33 cooperates with the fourth through-hole of the middle plate 312, so as to realize the rotatable connection between the first end of the large swing arm 321 in the second adjustment part 33 and the middle plate 312.

[0072] The second end of the large swing arm 321 is rotatably connected to the first end of the small swing arm 322 and is also connected through the above structure.

[0073] In this embodiment, the first adjustment hole 323 and the second adjustment hole 324 are both arc-shaped holes, thereby realizing a rotatable connection.

[0074] The present application does not limit the specific structure of the connecting component 3, and can be reasonably selected and set according to actual needs, as long as the marking component 4 can be connected to the fastening component 2 through the connecting component 3 and the angle of the marking component 4 can be adjusted.

[0075] The present application also discloses a multi-angle marking device, comprising: an identification system, a tightening gun body 1 and a multi-angle marking device, wherein the multi-angle marking device is connected to the tightening gun body 1 .

[0076] The recognition system includes: a 3D camera and a processing unit, wherein the 3D camera is suitable for recognizing the reflective information output by the reflective point 441 in the multi-angle marking device, and the processing unit is suitable for locating the position of the gun head 11 in the tightening gun body 1 based on the reflective information recognized by the 3D camera.

[0077] Furthermore, the reflective information carries an amount of information, and the amount of information is related to the number and area of ​​reflective points recognized by the 3D camera. The processing unit is suitable for comparing the amounts of information of the received marking plates when the 3D camera simultaneously receives reflective information from at least two marking plates, and locating the position of the gun head 11 in the tightening gun body 1 based on the marking plate corresponding to the marking plate carrying the larger amount of information.

[0078] When the recognition system identifies multiple boards, the present application can locate the position of the gun head 11 for screening the marking boards carrying a large amount of information, making the marking of the multi-angle marking device more accurate and improving the efficiency and quality of the operation.

[0079] In general, the multi-angle marking device provided by the present application is suitable for being connected with the tightening gun body and cooperating with the identification system to mark the product at multiple angles. The multi-angle marking device comprises a fastening assembly, a connecting assembly and a marking assembly. The fastening assembly is sleeved on the outer wall of the tightening gun body, and the marking assembly is connected to the fastening assembly through the connecting assembly. The marking assembly comprises: a first marking plate, a second marking plate and a third marking plate. The first marking plate, the second marking plate and the third marking plate are arranged along the circumference of the tightening gun body. The second end face of the first marking plate, the second end face of the second marking plate and the second end face of the third marking plate all have a plurality of reflective points, and the reflective points are suitable for outputting reflective information for the identification system to locate the position of the tightening gun body. Through the setting of the marking assembly, the product can be marked at multiple angles with the cooperation of the identification system, thereby improving the working efficiency. The present application also provides a multi-angle marking device, comprising: an identification system, a tightening gun body and a multi-angle marking device, and the multi-angle marking device is connected to the tightening gun body.

[0080] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A multi-angle marking device, suitable for connecting to a tightening gun body (1) and cooperating with an identification system to mark a product at multiple angles, characterized in that: The multi-angle marking device includes: a fastening component (2), a connecting component (3), and a marking component (4); The fastening component (2) is sleeved on the outer wall of the tightening gun body (1), and the marking component (4) is connected to the fastening component (2) through the connecting component (3); The marking component (4) includes: a marking plate, and the marking plate includes: a first marking plate (41), a second marking plate (42), and a third marking plate (43); The first marking plate (41), the second marking plate (42), and the third marking plate (43) are arranged along the circumferential direction of the tightening gun body (1); The first end surfaces of the first marking plate (41), the second marking plate (42), and the third marking plate (43) all face the tightening gun body (1) and are adapted to connect the connecting component (3). The second end surface of the first marking plate (41) faces the opposite direction of the first end surface of the first marking plate (41). The second end surface of the second marking plate (42) faces the opposite direction of the first end surface of the second marking plate (42). The second end surface of the third marking plate (43) faces the opposite direction of the first end surface of the third marking plate (43); The angle from the first end surface of the first marking plate (41) to the first end surface of the second marking plate (42) is less than 180 degrees, and the angle from the first end surface of the second marking plate (42) to the first end surface of the third marking plate (43) is less than 180 degrees; There are a plurality of reflective points (441) on the second end surfaces of the first marking plate (41), the second marking plate (42), and the third marking plate (43), and the reflective points (441) are adapted to output reflective information for the recognition system to locate the position of the tightening gun body (1).

2. The multi-angle marking device according to claim 1, characterized in that: The connecting component (3) includes: a fixing part (31); The cross-section of the fixing part (31) is U-shaped, and the fixing part (31) includes: a first connecting plate (311), an intermediate plate (312), and a second connecting plate (313); The first connecting plate (311) is connected to the second connecting plate (313) through the intermediate plate (312); The first connecting plate (311) connects the fastening component (2), the intermediate plate (312) extends radially outward along the tightening gun body (1), and the second connecting plate (313) connects the second marking plate (42).

3. The multi-angle marking device according to claim 2, characterized in that: The connecting component (3) further includes: a first adjusting part (32) and a second adjusting part (33); The first marking plate (41) is rotatably connected to the intermediate plate (312) through the first adjusting part (32), and the third marking plate (43) is rotatably connected to the intermediate plate (312) through the second adjusting part (33).

4. The multi-angle marking device according to claim 3, characterized in that: Both the first adjusting part (32) and the second adjusting part (33) are swing arm structures; The swing arm structure includes: a large swing arm (321) and a small swing arm (322); The first end of the large swing arm (321) is rotatably connected to the middle plate (312), the second end of the large swing arm (321) is rotatably connected to the first end of the small swing arm (322), and the second end of the small swing arm (322) is connected to the first marking plate (41) or the third marking plate (43).

5. The multi-angle marking device according to claim 1, characterized in that: The second end surface of the first marking plate (41), the second end surface of the second marking plate (42), and the second end surface of the third marking plate (43) all have a plurality of schematic points (442), the schematic points (442) being suitable for locating the center position of one of the reflective points (441), and the reflective point (441) is covered on the schematic points (442); The plurality of schematic points (442) are arranged in an array, and the point spacing between the plurality of schematic points (442) is a fixed value.

6. The multi-angle marking device according to claim 5, characterized in that: On the marking plate, the plurality of reflective dots (441) are suitable for forming a non-centrosymmetrical arrangement pattern based on the schematic dots (442).

7. The multi-angle marking device according to claim 6, characterized in that: The second end surface of the first marking plate (41), the second end surface of the second marking plate (42) and the second end surface of the third marking plate (43) all have different arrangement patterns.

8. The multi-angle marking device according to claim 6, characterized in that: On the same marking plate, the number of the schematic points (442) is M, M≥6, and the number of the reflective points (441) is N, M>N≥3; The multiple light reflecting points (441) are suitable for forming at least two intersecting straight lines.

9. A multi-angle marking device, characterized in that: include: An identification system, a tightening gun body (1) and a multi-angle marking device as claimed in any one of claims 1 to 8; The multi-angle marking device is connected to the tightening gun body (1); The recognition system comprises: a 3D camera and a processing unit, the 3D camera being suitable for recognizing reflective information output by a reflective point (441) in the multi-angle marking device, and the processing unit being suitable for locating the position of the tightening gun body (1) based on the reflective information recognized by the 3D camera.

10. The multi-angle marking device according to claim 9, characterized in that: The reflective information carries information volume, and the processing unit is adapted to locate the position of the tightening gun body (1) based on the mark plate corresponding to the mark plate carrying the larger information volume when the 3D camera simultaneously receives reflective information from at least two mark plates.

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